MiiVii Apex Xavier Manual

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3/5/23, 3:44 PM

Notice

Please read manual carefully before install, operate, or transport 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 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. In addition, a variety of computer vision

algorithm acceleration SDK are provided on Apex Xavier platform.

Included in the Box

Apex Xavier×1

Power Supply×1

Power cable×1

I/O Cable Assemblies×1

4G Antenna×2

WiFi Antenna×2

Quick Start×1

Specifications

Processor

CPU

GPU

doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html

NVIDIA Jetson AGX Xavier

8-core ARM v8.2 64-bit CPU

512-core Volta GPU

产品文档 : EN_Apex Xavier Manual

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Summary of Contents for MiiVii Apex Xavier

Page 1 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 2 3.3V 3.3V Sync I/O 1xSYNC_IN DB9 Terminal 2xSYNC_OUT SYNC_IN 0-12V, SYNC_OUT 3.3V, 2xSYNC_PPS SYNC_PPS 3.3V User 1xTF Slot MicroSD card supported Expansion 1×M.2 M Key 2280 SIZE NVME SSD 4G LTE 1×M.2 B Key Function Power KEY Button doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 2/45...
Page 3 [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 4: Service And Support
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...
Page 5 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual Figure Apex Xavier Front view Interface Name Description DC IN Power interface Power input voltage: 12-50V STATUS_LED System status System on: solid blue System off: solid red indicator POWER_LED Carrier board status...
Page 6: Circuit Description
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) GMSL OUT GMSL out Support 1 GMSL display 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.
Page 7 1×IIC(3.3V) 1×SPI(3.3V) 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 ① and EXPANSION PORT ②： doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 7/45...
Page 8 UART(TTL/232)A: TTL- RX/232-RX 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+ doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 8/45...
Page 9 PPS_A: TTL-TX/232-TX Ground PPS_A_SYNC PPS_A_SYNC Pulse signal Ground PPS_B PPS_B_RX PPS_B: TTL-RX/232-RX PPS_B_TX PPS_B: TTL-TX/232-TX Ground PPS_B_SYNC PPS_B_SYNC Pulse signal Ground SYNC_IO SYNC_IN Sync in Signal Ground SYNC_OUT Sync out Signal Ground Ground RESET RESET Reset RECOVERY FORCE_RECOVERY Recovery doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 9/45...
Page 10 [8] UART(TTL/232)A is a DEBUG port, all TTL is 3.3V 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 11: Rear Panel
AUD_HPOL Left channel signal Ground GPIO Ports GPIO_A1 GPIO_IN GPIO_B13 GPIO_C24 GPIO_OUT GPIO_D26 GPIO_E33 Ground GPIO Pin Assignment Port Name Pin Number GPIO Default Setting GPIO Export Value GPIO GPIO_A GPIO_IN GPIO_B GPIO_C GPIO_OUT GPIO_D GPIO_E Rear Panel doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 11/45...
Page 12 Connect to 2.4G/5.8G WiFiantenna ①② 4G Antenna connector Connect to 4G antenna ③④ 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 ① Number Port Quantity Details UART_TTL/232...
Page 13 产品文档 : EN_Apex Xavier Manual 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: Figure UART(TTL/232) Cable and Connectors 3 UART(TTL/232) DP9 connectors pin assignments: doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html...
Page 14 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 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: doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 14/45...
Page 15 Relation of UART Port and device node as follow: UART Port Device Node 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: doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 15/45...
Page 16 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual Figure Apex Xavier DIP Switch DIP switch settings are shown in the table below: Figure DIP Switch Mapping Number UART Port DIP Switch DIP Switch Settings PPS_A UART1 1.For TTL signal: Switch to 'TTL’...
Page 17 [9] Default switch for PPS ports and UART(TTL/232) ports is 232，default 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: Figure CAN Cable and Connectors 2 CAN connectors pin assignments：...
Page 18 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual 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 19 Synchronization Signal Signal SYNC_IN_A SYNC_OUT_A [11] For the usage of Sync_out and Sync_in function, please refer to the "Sync out Method" and "Sync in Method" sections in "Synchronization Function" Buttons Apex Xavier provides 3 buttons: RESET, POWER_ONKEY and FORCE_RECOVERY. doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 19/45...
Page 20 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: Figure Apex Xavier Button Cover Expansion sockets are shown as below. After installation, SSD card and 4G module need to be screwed.
Page 21: General Setting
产品文档 : EN_Apex Xavier Manual 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 22 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.
Page 23 产品文档 : EN_Apex Xavier Manual 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 24: Power Mode Setting
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 .
Page 25 -m [MODE ID] #achieve best performance of current mode sudo jetson_clocks #check more info sudo jetson_clocks --show GPIO Please change the code in <> to your GPIO export value #switch to root sudo su - #set GPIO to high doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 25/45...
Page 26 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"...
Page 27 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...
Page 28: Expansion Setting
500000 dbitrate 2000000 berr-repo 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: doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 28/45...
Page 29: Wireless Setting
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.
Page 30 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.
Page 31 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual Next Change country to 'China'. Then choose network provider. If your network provider is not included in the list, then enter it manually. doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 31/45...
Page 32 产品文档 : EN_Apex Xavier Manual 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' doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 32/45...
Page 33: Synchronization Function
Reset MiiVii device, you can automatically connect to 4G network Synchronization Function Sync Introduction Apex Xavier provides 3 ways to synchronize sensor input data: PPS, Sync in and Sync out. Synchronization error is within 1μs. (Error estimation method is attached to the end of this section) doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html...
Page 34: Sync Function
'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. Figure PPS Sync Method Schematic...
Page 35 Figure Comparison of Lidar Time and ROS time without Synchronization After connecting the sensor with MiiVii device's PPS_SYNC and PPS_TX pin, the sensor’s internal clock is synchronized with system time. Comparing the hardware timestamp and system time, when the difference is less than 100ms, it means PPS synchronization is functional.
Page 36 . MiiVii device receives this signal and records its rising edge moment. After data acquisition, MiiVii device associates received data with the signal’s rising edge moment as data timestamp. Thus, MiiVii device system obtains data acquisition time. [3] For the hardware connection method of the Sync in, please refer to the "SYNC Ports and Pin Assignments"...
Page 37 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 #evaluate sync-in method performance doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html...
Page 38 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...
Page 39 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual Connect MiiVii device's PPS pin and SYNC_IN pin. Run sample code (pps_test) for real-time analytics on the received timestamp. Figure Sync Pin Connection Schematic Figure PPS Test Result GMSL Function GMSL GMSL cameras do not support hot swapping.
Page 40 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 doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html...
Page 41: Exception Handling
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.
Page 42 ● 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: doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html 42/45...
Page 43 产品文档 : EN_Apex Xavier Manual 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 ●...
Page 44 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. doc.miivii.com/EN_Apex-Xavier-Manual_9732239.html...
Page 45 3/5/23, 3:44 PM 产品文档 : EN_Apex Xavier Manual 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 ●...