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Duo Module 01

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The Duo Module 01 is a compact module with integrated SG2000, WI-FI6/BTDM5.4, and eMMC. It supports SMD mounting. Also it can greatly save product development time. It is the first choice for making products.

In order to enable you to quickly verify and debug the initial product solution when designing products using Duo Module 01, We also provides an evaluation board (EVB), which is specially designed for the core board and provides rich interfaces and functions.

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Introduction of SG2000​

SG2000 is a high-performance, low-power chip designed for various product fields such as edge intelligent surveillance IP cameras, local facial recognition attendance machines, and smart home devices. It integrates H.264/H.265 video compression and decoding and ISP capabilities. It supports various image enhancement and correction algorithms like HDR wide dynamic range, 3D noise reduction, defogging, and lens distortion correction, providing customers with professional-grade video image quality.

The chip also integrates an in-house TPU, delivering approximately 0.5TOPS of computing power under INT8 operations. The specially designed TPU scheduling engine efficiently provides high-bandwidth data flow for tensor processing unit cores. It also offers users a powerful deep learning model compiler and software SDK development kit. Mainstream deep learning frameworks such as Caffe, Pytorch, ONNX, MXNet, and TensorFlow (Lite) can be easily ported to this platform.

SG2000 Public Preliminary Datasheet​

We have open sourced the Public Preliminary Datasheet and TRM of SG2000 to GitHub. please check it out.

Purchase​

Milk-V is the Authorised Global Distributor of the SG2000 chips. You can buy Duo Module 01 and samples of the SG2000 chip from our distributor online store directly. For volume order, please contact Milk-V Sales Team for the qoutation.

Getting Started​

Installing the system​

ヒント

The software of Duo Module 01 is compatible with DuoS. Please use the firmware of DuoS directly.

USB Network Usage​

Please refer to the Setup section.

Duo Module 01 GPIO Pinout​

GPIO pin mapping​

GROUPADDRPORTCHIPNUMNAMESTART
gpio0gpio@03020000portagpiochip0480-511XGPIOA480 - XGPIOA[0]
gpio1gpio@03021000portbgpiochip1448-479XGPIOB448 - XGPIOB[0]
gpio2gpio@03022000portcgpiochip2416-447XGPIOC416 - XGPIOC[0]
gpio3gpio@03023000portdgpiochip3384-415
gpio4gpio@05021000portegpiochip4352-383PWR_GPIO352 - PWR_GPIO[0]

Pin Definition​

PINNAMESG2000NUMMIPI DSI
1
MIPI_TX_2NXGPIOC[16]432MIPI_TX_CN
2
MIPI_TX_2PXGPIOC[17]433MIPI_TX_CP
3
MIPI_TX_1NXGPIOC[14]430MIPI_TX_1N
4
MIPI_TX_1PXGPIOC[15]431MIPI_TX_1P
5
MIPI_TX_0NXGPIOC[12]428MIPI_TX_0N
6
MIPI_TX_0PXGPIOC[13]429MIPI_TX_0P
7
3V3
8
3V3
9
GND
10
SENSOR_HS0XGPIOA[1]
11
SENSOR_CLK1XGPIOA[3]
12
SENSOR_CLK0XGPIOA[0]
13
I2C3_SENSOR0_SDAXGPIOA[6]
14
I2C3_SENSOR0_SCLXGPIOA[5]
15
SENSOR_RSTN1XGPIOA[4]
16
SENSOR_RSTN0XGPIOA[2]
17
AUDIO_OUT_L
18
AUDIO_OUT_R
19
AUDIO_IN_L
20
AUDIO_IN_R
21
SD_SD0_D1XGPIOA[10]
22
SD_SD0_CMDXGPIOA[8]
PINNAMESG2000NUMUARTPWMJTAGMIPI DSII2C
23
SD_SD0_CDXGPIOA[13]
24
SD_SD0_D0XGPIOA[9]
25
SD_SD0_CLKXGPIOA[7]
26
SD_SD0_D2XGPIOA[11]
27
SD_SD0_D3XGPIOA[12]
28
XGPIOB_22XGPIOB[22]470UART2_RX
29
SD_PWR_EN
30
UART0_RXPWR_GPIO[0]352UART2_TXPWM8LCD_PWM
31
UART0_TXXGPIOA[16]496UART0_TX/UART1_TXPWM4
32
XGPIOA_18XGPIOA[18]498UART1_RX/UART1_CTSPWM6JTAG_TCK
33
XGPIOA_19XGPIOA[19]499UART1_TX/UART1_RTSPWM7JTAG_TMS
34
XGPIOA_30XGPIOA[30]
35
PWR_VBAT_DET
36
LCD_RSTPWR_GPIO[2]354PWM10LCD_RSTI2C2_SDA
37
LCD_PWR_CT
38
LCD_PWM
39
I2C_SENSOR1_SDAPWR_GPIO[13]
40
I2C_SENSOR1_SCLPWR_GPIO[12]
41
XGPIOA_20XGPIOA[20]500JTAG_TRST
42
XGPIOA_29XGPIOA[29]
43
XGPIOA_28XGPIOA[28]508UART2_TX/UART1_TX
44
VDD_BAT
PINNAMESG2000NUMUARTPWMSPII2C
45
PWM0_BUCKXGPIOB[0]
46
VBUS_ENXGPIOB[5]
47
UPDATEXGPIOB[4]
48
VBUS_DETXGPIOB[6]
49
EPHY_LNK_LEDPWR_GPIO[6]
50
EPHY_SPD_LEDPWR_GPIO[8]
51
XGPIOB_12XGPIOB[12]460UART2_RXPWM2I2C1_SCL
52
XGPIOB_11XGPIOB[11]459UART2_TXPWM1I2C1_SDA
53
XGPIOB_13/SPI3_SDOXGPIOB[13]461PWM3SPI3_SDOI2C2_SCL
54
XGPIOB_15/SPI3_SCKXGPIOB[15]463UART2_TXSPI3_SCK
55
XGPIOB_14/SPI3_SDIXGPIOB[14]462SPI3_SDII2C2_SDA
56
XGPIOB_16/SPI3_CSXGPIOB[16]464UART2_RXSPI3_CS
57
ADC1XGPIOB[3]451
58
ADC2XGPIOB[2]450UART3_RXPWM13I2C4_SDA
59
ADC3XGPIOB[1]449UART3_TXPWM12I2C4_SCL
60
ARM_RISV_SWITCHXGPIOB[23]
61
EPHY_RXPXGPIOB[24]
62
EPHY_RXNXGPIOB[25]
63
EPHY_TXPXGPIOB[26]
64
EPHY_TXNXGPIOB[27]
65
USB_DM
66
USB_DP
PINNAMESG2000NUMUARTPWMMIPI DSII2C
67
XGPIOB_17/I2C1_SDAXGPIOB[17]
68
XGPIOB_18/I2C1_SCLXGPIOB[18]466I2C1_SCL
69
XGPIOB_19XGPIOB[19]467UART2_TXPWM2
70
XGPIOB_20/I2C4_SCLXGPIOB[20]468UART2_TXPWM3I2C4_SCL
71
XGPIOB_21/I2C4_SDAXGPIOB[21]469I2C4_SDA
72
MIPI0_DN5XGPIOC[0]I2C4_SDA
73
MIPI0_DP5XGPIOC[1]
74
MIPI0_DN4XGPIOC[2]
75
MIPI0_DP4XGPIOC[3]
76
MIPI0_DN3XGPIOC[4]
77
MIPI0_DP3XGPIOC[5]
78
MIPI0_DN0XGPIOC[10]
79
MIPI0_DP0XGPIOC[11]
80
MIPI0_DN1XGPIOC[8]
81
MIPI0_DP1XGPIOC[9]
82
MIPI0_DN2XGPIOC[6]
83
MIPI0_DP2XGPIOC[7]
84
GND
85
MIPI_TX_4NXGPIOC[18]434MIPI_TX_3N
86
MIPI_TX_4PXGPIOC[19]435MIPI_TX_3P
87
MIPI_TX_3NXGPIOC[20]436MIPI_TX_2N
88
MIPI_TX_3PXGPIOC[21]437MIPI_TX_2P

DuoModule 01 EVB GPIO Pinout​

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26 PIN Header​

GPIO on 26 PIN Header use 3.3V logic levels.

SPIPWMI2CUARTNUMSG2000NAMEPINPINNAMESG2000NUMUARTPWMSPIJTAG
3V3
1
2
VSYS(5V)
PWM3I2C4_SCL468XGPIOB[20]B20
3
4
VSYS(5V)
I2C4_SDA469XGPIOB[21]B21
5
6
GND
I2C1_SCL466XGPIOB[18]B18
7
8
A16XGPIOA[16]496UART0_TX/UART1_TXPWM4
GND
9
10
A17XGPIOA[17]497UART0_RX/UART1_RXPWM5
PWM1I2C1_SDAUART2_TX459XGPIOB[11]B11
11
12
B19XGPIOB[19]467UART2_TXPWM2
PWM2I2C1_SCLUART2_RX460XGPIOB[12]B12
13
14
GND
UART2_RX470XGPIOB[22]B22
15
16
A20XGPIOA[20]500JTAG_TRST
3V3
17
18
A19XGPIOA[19]499UART1_TX/UART1_RTSPWM7JTAG_TMS
SPI3_SDOPWM3I2C2_SCL461XGPIOB[13]B13
19
20
GND
SPI3_SDII2C2_SDA462XGPIOB[14]B14
21
22
A18XGPIOA[18]498UART1_RX/UART1_CTSPWM6JTAG_TCK
SPI3_SCKUART2_TX463XGPIOB[15]B15
23
24
B16XGPIOB[16]464UART2_RXSPI3_CS
GND
25
26
A28XGPIOA[28]508UART2_TX/UART1_TX

Blue LED PIN​

NAMESG2000NUM
LED
XGPIOA[29]509

Camera interface​

Duo Module 01 EVB has two CSI camera connectors:

  • J8 is a 16 PIN 0.5mm pitch connector compatible with Duo and Duo256M cameras, and can directly use the CAM-GC2083 camera.
  • J10 is a 15-pin 1.0mm pitch connector compatible with the Raspberry Pi camera interface. It currently supports the OV5647 camera used on the Raspberry Pi.
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Note that the I2C used by the J1 interface is I2C3, and the I2C used by the J2 interface is I2C2. Please check the pin multiplexing configuration when using it.

J8 Connector FPC Definition​

J8Description
1GND
2MIPI0_DN0
3MIPI0_DP0
4GND
5MIPI0_DN1
6MIPI0_DP1
7GND
8MIPI0_CKN
9MIPI0_CKP
10GND
11SENSOR_RSTN0 (1.8V)
12SENSOR_CLK0 (1.8V)
13I2C3_SCL (1.8V)
14I2C3_SDA (1.8V)
15
163V3

J10 Connector FPC Definition​

J10Description
13V3
2I2C2_SDA (3.3V)
3I2C2_SCL (3.3V)
4SENSOR_CLK1 (3.3V)
5SENSOR_RSTN1 (3.3V)
6GND
7MIPI0_DP5 (CAM1_CP)
8MIPI0_DN5 (CAM1_CN)
9GND
10MIPI0_DP4 (CAM1_DP1)
11MIPI0_DN4 (CAM1_DN1)
12GND
13MIPI0_DP3 (CAM1_DP0)
14MIPI0_DN3 (CAM1_DN0)
15GND

POE Header​

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POE PinDescription
1VA-
2VA+
3VB+
4VB-

ADC Interfaces​

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ADC PinDescription
1GND
23V3
31V8
4ADC1
5ADC2
6ADC3

MIPI DSI Screen Interface​

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LCD PinDescriptionLevel
1VDD3V33.3V
2IOVCC1V8-3V31.8V
3SENSOR-INT
4RESET1.8V
5NC
6GND1
7MIPI-0N
8MIPI-0P
9GND2
10MIPI-1N
11MIPI-1P
12GND3
13MIPI-CKN
14MIPI-CKP
15GND4
16MIPI-2N
17MIPI-2P
18GND5
19MIPI-3N
20MIPI-3P
21GND6
22GND7
23TP-RESET3.3V
24TP-VCC3.3V
25TP-INT3.3V
26TP-SDA3.3V
27TP-SCL3.3V
28GND8
29GND9
30VCC3V313.3V
31VCC3v323.3V
32GND11
33GND12
34LED-1
35LED-
36NC
37NC
38LED+1
39LED+

RTC Interface​

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ADC PinDescription
1GND
2Vbat

Audio Interfaces​

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MIC PinDescription
1MIC IN
2GND

Duo Module 01 EVB User Guide​

RISC-V and ARM switching​

The large core of Duo Module 01 EVB can choose to use RISC-V or ARM processor, which can be set through the switch on the board. If you find that Duo Module 01 EVB cannot start normally during use, please first check whether the switch is consistent with the firmware used.

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If the debug serial port is connected, you can see in the first line of the boot log that starting with C means starting from the RISC-V core, and starting with B means starting from the ARM core.

  • RISC-V: 
    C.SCS/0/0.C.SCS/0/0.WD.URPL.USBI.USBW
  • ARM: 
    B.SCS/0/0.WD.URPL.B.SCS/0/0.WD.URPL.USBI.USBW

Usage of USB Type A interfaces​

The USB functions of the EVB USB Type A interface and Type C interface are optional and cannot be used at the same time. The default firmware is configured with the USB network port (USB-NCM) function of the Type C port. If you need to switch to the USB 2.0 HOST port of the Type A port for use with USB flash drives and other devices, you need to execute the following command:

ln -sf /mnt/system/usb-host.sh /mnt/system/usb.sh
sync

Then execute the reboot command or power on again to make it take effect.

For example, after connecting a USB flash drive to the USB A port, you can use ls /dev/sd* to check whether the device is detected.

Mount it to the system to view the contents of the USB flash drive (take /dev/sda1 as an example):

mkdir /mnt/udisk
mount /dev/sda1 /mnt/udisk

Check whether the contents of the /mnt/udisk directory are as expected:

ls /mnt/udisk

Command to uninstall USB flash drive:

umount /mnt/udisk

When you want to restore the USB network (USB-NCM) function of the Type C port, execute:

rm /mnt/system/usb.sh
ln -sf /mnt/system/usb-ncm.sh /mnt/system/usb.sh
sync

Then execute the reboot command or power on again to make it take effect.

ヒント

Duo Module 01 EVB has an onboard Ethernet interface, so the USB network port (USB-NCM) of the Type C port can be used without switching to the USB 2.0 Host function of the A port.

Fixed ethernet port MAC address​

If you need to assign a fixed MAC address to the Ethernet port of EVB, please execute the following command:

ヒント

Replace the MAC address in the command with the MAC address you want to set, and please note that MAC addresses of different devices within the same network segment must not be duplicated

echo "pre-up ifconfig eth0 hw ether 78:01:B3:FC:E8:55" >> /etc/network/interfaces && sync

then reboot the board.

UART Serial Console​

Duo Module 01 EVB has a reserved UART debug serial port, which can be used to view the system startup log, or to log in to the console after the system starts and execute some terminal commands.

USB-TTL Serial Cable​

The serial port level of Duo series is 3.3V.

The pin definitions of common USB to TTL serial cables are as follows:

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Connection​

Connect the USB to TTL serial cable as shown below, leaving the red wire unconnected.

Milk-V DouS<--->USB to TTL
GND (pin 6)<--->Black wire
TX (pin 8)<--->White wire
RX (pin 10)<--->Green wire
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The default serial port parameters of EVB are as follows:

baudrate: 115200
data bit: 8
stop bit: 1
parity  : none
flow control: none

WIFI configuration​

Method 1​

Edit the following file and replace ssid and psk with the WIFI account and password to be connected:

/etc/wpa_supplicant.conf
ctrl_interface=/var/run/wpa_supplicant
ap_scan=1
update_config=1

network={
  ssid="wifi_test"
  psk="12345678"
  key_mgmt=WPA-PSK
}

Then execute the following command:

wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant.conf

You can connect to WIFI. After connecting, you can view the assigned IP address through the ifconfig or ip a command.

If you need to automatically connect to the WIFI when booting, you can put the following command in the /mnt/system/auto.sh file.

interface="wlan0"
max_attempts=100
attempt=0
log_file="/var/log/auto.sh.log"

# Continuously attempt to detect if the interface exists, up to $max_attempts times
echo "start auto.sh" > "$log_file"
while [ $attempt -lt $max_attempts ]; do
    # Check if the wlan0 interface exists
    ip link show "$interface" > /dev/null 2>&1
    if [ $? -eq 0 ]; then
        echo "$(date +'%Y-%m-%d %H:%M:%S') $interface interface exists, starting wpa_supplicant..." >> "$log_file"
        wpa_supplicant -B -i "$interface" -c /etc/wpa_supplicant.conf >> "$log_file"
        break  # Exit the loop if the interface is found
    else
        echo "$(date +'%Y-%m-%d %H:%M:%S') $interface interface not found, waiting..." >> "$log_file"
        sleep 1  # Wait for 1 second before checking again
        attempt=$((attempt + 1))  # Increment the attempt counter
    fi
done

# If the maximum number of attempts is reached and the interface still not found, output an error message
if [ $attempt -eq $max_attempts ]; then
    echo "$(date +'%Y-%m-%d %H:%M:%S') Interface $interface not found after $max_attempts attempts" >> "$log_file"
fi

Fixed WIFI MAC address​

Duo Module 01 EVB WIFI MAC address is randomly assigned. If you need to assign a fixed MAC address to the WIFI of EVB, please execute the following command::

ヒント

Replace the MAC address in the command with the MAC address you want to set, and please note that MAC addresses of different devices within the same network segment must not be duplicated

echo "MAC_ADDR=11:22:33:44:55:66" > /mnt/system/firmware/aic8800/rwnx_settings.ini && sync

then reboot the board.

eMMC version firmware burning​

The Duo Module 01 eMMC version does not have firmware burned and needs to be burned using a PC through the USB interface.

ヒント

Use the USB burning tool under Windows to support eMMC. The firmware version is V1.1.2 or latest version.

Burning in Windows​

  1. Install driver

    Download the USB driver installation tool: CviUsbDownloadInstallDriver.zip. After downloading, unzip and install.

  2. Download burning tool

    Download the command line burning tool under Windows CviBurn_v2.0_cli_windows.zip, unzip it after downloading.

  3. Download firmware

    The firmware of Duo Module 01 is common to that of DuoS. Download the latest version of DuoS eMMC firmware, currently milkv-duos-emmc-v1.1.2-2024-0801.zip, you can create a new rom folder in the burning tool CviBurn_v2.0_cli_windows directory, and extract the downloaded eMMC firmware compressed package to rom directory, the directory structure of the burning tool is as follows:

    └───CviBurn_v2.0_cli_windows
     │   cv_dl_magic.bin
     │   usb_dl.exe
     └───rom
         │   boot.emmc
         │   fip.bin
         │   partition_emmc.xml
         │   rootfs_ext4.emmc
         |   ...

    In the Windows terminal, execute the burning command in the CviBurn_v2.0_cli_windows directory:

    .\usb_dl.exe -s linux -c cv181x -i .\rom

    *You can also put the firmware in other directories and specify the corresponding directory through the -i parameter in the command. *

    Displays message waiting for USB connection:

    Document Pictures

    Use Type-C data cable to connect EVB and PC (note, if EVB currently has an SD card inserted, please remove the SD card first), EVB will automatically power on and enter the burning mode, and the PC will display the burning status in real time. Recording progress:

    [INFO] Waiting for USB device connection: ---
    [INFO] found usb device vid=0x3346 pid=0x1000
    [INFO] downloading file: .\rom\boot.emmc
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 3384664/213100824(1%)
    [INFO] downloading file: .\rom\rootfs_ext4.emmc
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 20161944/213100824(9%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 36939224/213100824(17%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 53716504/213100824(25%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 70493784/213100824(33%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 87271064/213100824(40%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 104048344/213100824(48%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 120825624/213100824(56%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 137602904/213100824(64%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 154380184/213100824(72%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 171157464/213100824(80%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 187934744/213100824(88%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 204712024/213100824(96%)
    [INFO] CVI_USB_PROGRAM
    [INFO] updated size: 213100696/213100824(99%)
    [INFO] USB download complete

    After the burning is completed, the EVB will automatically restart. After booting, you will see the blue LED on the DuoS flashing, indicating that the system has started normally and the burning is successful.

eMMC Erase​

If you need to restore the eMMC to its initial state, please refer to the following command to clear the eMMC data (please back up important files in the eMMC in advance):

  • Unlock readonly 
    echo 0 > /sys/block/mmcblk0boot0/force_ro
    echo 0 > /sys/block/mmcblk0boot1/force_ro
  • Erase 
    dd if=/dev/zero of=/dev/mmcblk0boot0 bs=1M count=4
    dd if=/dev/zero of=/dev/mmcblk0boot1 bs=1M count=4

Hardware Docs​

Others​

https://github.com/milkv-duo/duo-files/tree/main/duo-module-01

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