Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Apex Digital Manuals
  4. Computer Hardware
  5. Xavier
  6. Manual

Apex Digital Xavier Manual

Hide thumbs

Advertisement

Quick Links

Download this manual
EN_Apex Xavier Manual
Notice
Brief
Included in the Box
Specifications
Processor
I/O
Power Supply
Mechanical
Environmental
Certification
Install Dimension
Service and Support
Support
Warranties
Interfaces
Interfaces
Front panel
Left Panel
Right Panel
Rear Panel
I/O Cable
UART(TTL/232)Ports and Pin Assignments
UART(232/422/485) Ports and Pin Assignments
CAN Ports and Pin Assignments
PPS Ports and Pin Assignments
SYNC Ports and Pin Assignments
Buttons
Expansion
General Setting
General Setting
System
System Image and Flashing Tool
Power on
MiiVii Setting
Power Mode Setting
IO
GPIO
UART
Use GPS To Give Time To The Device
CAN
Expansion Setting
SSD Setting
Wireless Setting
WiFi Setting
4G Setting
Synchronization Function
Sync Introduction
Sync Function
Synchronization error estimation
Evaluate synchronization feature by measuring timestamp jitter
EXPANSION PORT Pin Assignments
EXPANSION PORT Pin Assignment
GPIO Pin Assignment
GPS Support Model
Connection Mode
Check Whether The Timing Was Successful
Troubleshooting
1. Check If The GPS Has Output
2. Check The OUTPUT of THE GPS PPS Signal
3. Identify Methods
PPS Sync Method
Sync out Method
Sync in Method
Measure PPS signal duration with oscilloscope
Measure sync-out signal duration with oscilloscope
Sample code to calculate timestamp jitter
Sync out jitter measurement
Sync in jitter measurement

Advertisement

loading

Related Manuals for Apex Digital Xavier

Summary of Contents for Apex Digital Xavier

  • Page 1 EN_Apex Xavier Manual Notice Brief Included in the Box Specifications Processor Power Supply Mechanical Environmental Certification Install Dimension Service and Support Support Warranties Interfaces Interfaces Front panel Left Panel Right Panel EXPANSION PORT Pin Assignments EXPANSION PORT Pin Assignment GPIO Pin Assignment...
  • Page 2 Recommend to transport MiiVii device in its original packaging. Brief MiiVii Apex Xavier is an embedded computing platform based on NVIDIA Jetson AGX Xavier. With waterproof and shockproof connectors and powerful computer vision processing capability, Apex Xaiver is designed for autonomous machines, especially for outdoor environment use. Apex Xavier offers synchronization feature, which is essential for multi-sensor fusion.
  • Page 3 Specifications Processor Processor NVIDIA Jetson AGX Xavier 8-core ARM v8.2 64-bit CPU 512-core Volta GPU Memory 32GB 256-Bit LPDDR4 DL Accelerator 2×NV DLA Engines Storage 32GB eMMC 5.1 Interface Quantity Note Network Ethernet 1×8pin Waterproof Gigabit Ethernet Alternative RJ45 and waterproof port port 1×RJ45 Gigabit Network port...
  • Page 4 [ ] 5 According to GB/T 2423-2008 Working frequency is subject to change after temperature reaches 60 [ ] 6 According to GB/T 2423.10-2008 [ ] 7 Professional I/O ports are IP67-rated. To achieve IP67 rating of Apex Xavier, please contact MiiVii for a second version of case design.
  • Page 5 Install Dimension Dimensions and mounting hole position as below: Up view(Unit:mm) Left view(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.
  • Page 6 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 Apex Xavier Front view Interface Name Description DC IN...
  • Page 7 Figure LAN(Waterproof) Pin Circuit Description MDI0+ MDI0- MDI1+ MDI1- MDI2+ MDI2- MDI3+ MDI3- Left Panel Figure Apex Xavier Left Panel Interface Name Description GMSL IN GMSL in Support 8 GMSL cameras(9v)
  • Page 8 There is no restriction between two groups. When you connect cameras to a specific camera group, you must attach the cameras in sequential order: A1 to A4 or B1 to B4. Homogeneous camera types are required per camera group. Right Panel Figure Apex Xavier Right Panel Interface Name...
  • Page 9 5×GPIO(For IN: Logic High 1V-12V, Logic Low 0V-0.8V. For OUT:3.3V) I/O Expansion Port Pin Definitions There are two I/O expansion ports at the right panel of Apex Xavier, as EXPANSION PORT and EXPANSION PORT Figure I/O Expansion Ports EXPANSION PORT Pin Assignments...
  • Page 10 Figure EXPANSION PORT Port Name Definition Description UART(TTL/232)A_RX UART(TTL/232)A: TTL-RX/232-RX UART(TTL/232)A DEBUG UART(TTL/232)A_TX UART(TTL/232)A: TTL-TX/232-TX Ground UART(TTL/232)B UART(TTL/232)B_RX UART(TTL/232)B: TTL-RX/232-RX UART(TTL/232)B_TX UART(TTL/232)B: TTL-TX/232-TX Ground UART(TTL/232)C UART(TTL/232)C_RX UART(TTL/232)C: TTL-RX/232-RX UART(TTL/232)C_TX UART(TTL/232)C: TTL-TX/232-TX Ground UART(232/422/485)A UART(232_RX/485_A/422_T+)A UART(232/422/485)A: 232_RX /485_A/422_T+ UART(232_TX/485_B/422_T-)A UART(232/422/485)A: 232_TX /485_B/422_T- UART(422_R+)A UART(232/422/485)A: 422_R+...

  • Page 11: Table Of Contents

    If you want to use GPS Sync function, please refer to the following instruction: Connect GPS NMEA Serial port to UART(TTL/232)B port of Apex Xavier(Baud 9600), device node is /dev/ttyUART_TTL_232_B Connect GPS PPS Port to SYNC_IO PIN1of Apex Xavier, device node is /dev/miivii-sync-in-a These two nodes above is occupied while GPS Sync function is available.
  • Page 12 IIS Port IIS_MCLK05 IIS master clock IIS_PWM01 IIS interrupt IIS_SDIN IIS serial data in IIS_SDOUT IIS serial data out IIS_FS IIS frame sync IIS_CLK IIS continuous serial clock Ground IIC Port IIC_CLK IIC serial clock IIC_DAT IIC serial data Ground Audio Port IN1P MIC Signal...
  • Page 13 2.4G/5.8G WiFi Antenna connector Connect to 2.4G/5.8G WiFiantenna 4G Antenna connector Connect to 4G antenna I/O Cable Apex Xavier provides one I/O cable with 10 DB-9(DE-9) connectors and 3 buttons, as an extension of EXPANSION PORT Number Port Quantity Details...
  • Page 14 Figure I/O Cable UART(TTL/232)Ports and Pin Assignments Apex Xavier provides 3 TTL/RS232 ports: UART(TTL/232)A, UART(TTL/232)B and UART(TTL/232)C. UART(TTL/232)A is for debugging use. Black DB9 connectors from I/O cable are shown as below:...
  • Page 15 Figure UART(TTL/232) Cable and Connectors 3 UART(TTL/232) DP9 connectors pin assignments: Figure UART(TTL/232) Pin UART(TTL/232)A UART(TTL/232)B UART(TTL/232)C Pin Signal Pin Signal Pin Signal UART(TTL/232)A_RX 2 UART(TTL/232)B_RX 2 UART(TTL/232)C_RX UART(TTL/232)A_TX UART(TTL/232)B_TX UART(TTL/232)C_TX UART(232/422/485) Ports and Pin Assignments...
  • Page 16 Apex Xavier provides 2 RS232/RS485/RS422ports: UART(232/485/422)A and UART(232/485/422)B. Gray DB9 connectors from I/O cable are shown as below: Figure UART(422/485) Cable and Connectors 2 UART(232/422/485) DP9 connectors pin assignments: Figure UART(422/485) Pin UART(232/422/485)A UART(232/422/485)B Pin Signal Pin Signal UART(232_RX/485_A/422_T+)A 2...
  • Page 17 UART(TTL/232)A DEBUG UART(TTL/232)B ttyUART_TTL_232_B UART(TTL/232)C ttyUART_TTL_232_C UART(232/422/485)A ttyUART_232_422_485_A UART(232/422/485)B ttyUART_232_422_485_B DIP switch for UART Ports: Open Apex Xavier’s bottom cover, DIP switches are shown as below: Figure Apex Xavier DIP Switch DIP switch settings are shown in the table below:...
  • Page 18 [ ] 9 Default switch for PPS ports and UART(TTL/232) ports is 232default switch for UART(232/422/485) ports is 485/422 CAN Ports and Pin Assignments Apex Xavier provides 2 CAN ports: CAN_A and CAN_B. White DB9 connectors from I/O cable are shown as below:...
  • Page 19 CAN_B_H PPS Ports and Pin Assignments Apex Xavier provides 2 PPS ports: PPS_A(115200 Bd) and PPS_B(9600 Bd) . The blue DB9 connectors from I/O cable are shown as below: 10 For the usage of PPS function, please refer to the "PPS Sync Method" section in "Synchronization Function"...

  • Page 20: Pps_B_Sync

    Figure PPS Cable and Connector PPS_A(115200 Bd) and PPS_B(9600 Bd), Pin Assignments Figure PPS Pin PPS_A PPS_B Pin Signal Pin Signal PPS_A_RX PPS_B_RX PPS_A_TX PPS_B_TX PPS_A_SYNC 6 PPS_B_SYNC...

  • Page 21: Sync_In

    SYNC Ports and Pin Assignments Apex Xavier provides 2 sync I/O ports: Sync_out and Sync_in . They share the green DB9 connector from I/O cable: Figure Sync IO Cable and Connector SYNC_IO DB9 connector pin assignments: Figure Sync IO Pin...

  • Page 22: Force_Recovery

    Name Function Color RESET Restart White POWER_ONKEY Power on FORCE_RECOVERY Enter Recovery mode Black Expansion Apex Xavier provides expansion sockets for SSD, 4G module, TF card and SIM card. Remove screws on Apex Xavier’s bottom cover as shown in below:...
  • Page 23 Figure Apex Xavier Button Cover Expansion sockets are shown as below. After installation, SSD card and 4G module need to be screwed. Connect 4G antenna cable (attached to the board) to 4G module.
  • Page 24 Figure Apex Xavier Expansion Sockets 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.
  • Page 25 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.
  • Page 26 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.
  • Page 27 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...
  • Page 28 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...
  • Page 29 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.
  • Page 30 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 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 sudo ip link set up can0 sudo cansend can0 123#abcdabcd sudo candump can0...
  • Page 31 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...
  • Page 32 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.
  • Page 33 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.
  • Page 34 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...
  • Page 35 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...
  • Page 36 Synchronization Function Sync Introduction Apex Xavier provides 3 ways to synchronize sensor input data: PPS, Sync in and Sync out. Synchronization error is within 1s. (Error estimation method is attached to the end of this section) Figure Sync Fearure Schematic...
  • Page 37 '060249.000' represents 'Time of fix 06:02:49 UTC'. Receiving PPS signal and GPRMC message, sensors which support PPS synchronization, could synchronize their internal clock with system time. Together with the timestamp, sensor data is sent to MiiVii device, so that Apex Xavier receives the data acquisition time.
  • Page 38 Figure Comparison of Lidar Time and ROS time after Synchronization Sync out Method MiiVii device could generate one 1-30Hz signal (Pulse width: 5ms) through its sync-out pin . This signal is received by sensors as trigger signal for data acquisition. Meanwhile, MiiVii device records the moment of this signal’s rising edge. After data acquisition, MiiVii device associates received data with the trigger signal’s rising edge moment as data timestamp.
  • Page 39 Figure Sync in Method Schematic (10Hz) Synchronization Verification: Print the signal’s timestamp received by SYNC_IN pin. Compare this timestamp with system time of frame received (ros::time::now). If the difference is less than 100 ms, it means sync-in method is functional. Synchronization error estimation Measure PPS signal duration with oscilloscope Figure PPS Signal Duration...
  • Page 40 Figure Sync-out Signal Duration (10Hz) Theoretical Values Measured Values Errors Sync out 100000 99999.2 Evaluate synchronization feature by measuring timestamp jitter Sample code to calculate timestamp jitter MiiVii device provides sample code for users to evaluate the synchronization feature. #navigate to the following directory cd /opt/miivii/feature/sync_test/bin #evaluate sync-out method performance ./sync_out_test...
  • Page 41 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. MiiVii device's SYNC_OUT pin could be used as an 25Hz external signal to connect with SYNC_IN pin Figure Sync Pin Connection Schematic Figure Sync-in Jitter Test Result PPS jitter measurement...
  • Page 42 Figure PPS Test Result GMSL Function GMSL GMSL cameras do not support hot swapping. GMSL Sync is triggered by one sync signal with frequency of 25Hz,you can set up frequency from 14Hz to 30Hz in gmsl SDK. MAXIM GMSL can drive a cable length of 15 meters. Support 8-Bit YUV format video with resolution of 1280×720@25, 1280×728@25, 1280×800@25 and 1280×1080@25.
  • Page 43 ./bin/cameras_opencv_demo -d /dev/video0 -s 2560x720 -r 25 #If you have 4 cameras plugged in port A ./bin/cameras_opencv_demo -d /dev/video0 -s 5120x720 -r 25 Figure GMSL Output 13 parameters are defined by camera resolution. For <nWxH>, n is the number of connected cameras; WxH is video resolution. For instance, when two 1280x720 cameras are connected, parameters should be set at <2560x720>.
  • Page 44 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.
  • Page 45 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"...
  • Page 46 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"...
  • Page 47 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.
  • Page 48 Note: before you do this in meters, power after confirmation: helpdesk@miivii.com Attached 2. Self-test For Burning Problems...
  • Page 49 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)