# Milk-V Duo S

> Compact edge-vision SBC with an SG2000 processor, 512 MB RAM, a 0.5-TOPS INT8 TPU, dual 2-lane MIPI CSI camera inputs, MIPI DSI output, 100 Mbps Ethernet, USB host/device modes and switchable RISC-V or Arm execution.

- Manufacturer: Milk-V
- Part number: Milk-V Duo S
- Category: Development boards
- Canonical page: https://www.xirkit.io/products/milk-v-duo-s-41db
- Pinout: https://www.xirkit.io/products/milk-v-duo-s-41db/pinout
- Structured JSON: https://www.xirkit.io/products/milk-v-duo-s-41db/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Main chip | SG2000 |
| Chips on board | SG2000 |
| Exposed GPIO | 33 |
| Documented board pins | 83 |
| I/O voltage | 3.3 V |
| Supply voltage | 5–5 V |
| Interfaces | camera, gpio, pwm, i2c, uart, spi, jtag, display |
| Frameworks | Caffe, PyTorch, ONNX, MXNet, TensorFlow Lite |
| Dimensions | 43.18 × 43.18 mm |

## Pinout (83 pins, 57 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| GND | J1 · 1 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_DN0 | J1 · 2 | control | PAD_MIPIRX0N | MIPI0_DN0, PAD_MIPIRX0N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_DP0 | J1 · 3 | control | PAD_MIPIRX0P | MIPI0_DP0, PAD_MIPIRX0P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J1 · 4 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_DN1 | J1 · 5 | control | PAD_MIPIRX1N | MIPI0_DN1, PAD_MIPIRX1N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_DP1 | J1 · 6 | control | PAD_MIPIRX1P | MIPI0_DP1, PAD_MIPIRX1P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J1 · 7 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_CKN | J1 · 8 | control | PAD_MIPIRX2N | MIPI0_CKN, PAD_MIPIRX2N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_CKP | J1 · 9 | control | PAD_MIPIRX2P | MIPI0_CKP, PAD_MIPIRX2P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J1 · 10 | ground | — | ground | — | — | — | — | — | — | — |
| SENSOR_RSTN0(1.8V) | J1 · 11 | control | CAM_RST0 | SENSOR_RSTN0 (1.8V), CAM_RST0 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| SENSOR_CLK0(1.8V) | J1 · 12 | control | CAM_MCLK0 | SENSOR_CLK0 (1.8V), CAM_MCLK0 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| I2C3_SCL(1.8V) | J1 · 13 | control | IIC3_SCL | I2C3_SCL (1.8V), IIC3_SCL | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| I2C3_SDA(1.8V) | J1 · 14 | control | IIC3_SDA | I2C3_SDA (1.8V), IIC3_SDA | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| NC | J1 · 15 | control | — | nc | — | — | — | — | — | — | — |
| 3V3 | J1 · 16 | power in | — | power_in | — | — | — | — | — | — | — |
| 3V3 | J2 · 1 | power in | — | power_in | — | — | — | — | — | — | — |
| I2C2_SDA(3.3V) | J2 · 2 | control | IIC2_SDA | I2C2_SDA (3.3V), IIC2_SDA | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| I2C2_SCL(3.3V) | J2 · 3 | control | IIC2_SCL | I2C2_SCL (3.3V), IIC2_SCL | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| SENSOR_CLK1(3.3V) | J2 · 4 | control | CAM_MCLK1 | SENSOR_CLK1 (3.3V), CAM_MCLK1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| SENSOR_RSTN1(3.3V) | J2 · 5 | control | CAM_PD1 | SENSOR_RSTN1 (3.3V), CAM_PD1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J2 · 6 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_DP5(CAM1_CP) | J2 · 7 | control | PAD_MIPIRX5P | MIPI0_DP5 (CAM1_CP), PAD_MIPIRX5P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_DN5(CAM1_CN) | J2 · 8 | control | PAD_MIPIRX5N | MIPI0_DN5 (CAM1_CN), PAD_MIPIRX5N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J2 · 9 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_DP4(CAM1_DP1) | J2 · 10 | control | PAD_MIPIRX4P | MIPI0_DP4 (CAM1_DP1), PAD_MIPIRX4P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_DN4(CAM1_DN1) | J2 · 11 | control | PAD_MIPIRX4N | MIPI0_DN4 (CAM1_DN1), PAD_MIPIRX4N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J2 · 12 | ground | — | ground | — | — | — | — | — | — | — |
| MIPI0_DP3(CAM1_DP0) | J2 · 13 | control | PAD_MIPIRX3P | MIPI0_DP3 (CAM1_DP0), PAD_MIPIRX3P | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| MIPI0_DN3(CAM1_DN0) | J2 · 14 | control | PAD_MIPIRX3N | MIPI0_DN3 (CAM1_DN0), PAD_MIPIRX3N | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J2 · 15 | ground | — | ground | — | — | — | — | — | — | — |
| 3V3 | J3 · 1 | power in | — | power_in | — | — | — | — | — | — | — |
| B20 | J3 · 3 | gpio | VIVO_D1 | B20, PWM3, I2C4_SCL, VIVO_D1 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B21 | J3 · 5 | gpio | VIVO_D0 | B21, I2C4_SDA, VIVO_D0 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B18 | J3 · 7 | gpio | VIVO_D3 | B18, I2C1_SCL, VIVO_D3 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| GND* | J3 · 9 | ground | — | ground | — | — | — | — | — | — | — |
| B11 | J3 · 11 | gpio | VIVO_D10 | B11, PWM1, I2C1_SDA, UART2_TX, VIVO_D10 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B12 | J3 · 13 | gpio | VIVO_D9 | B12, PWM2, I2C1_SCL, UART2_RX, VIVO_D9 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B22 | J3 · 15 | gpio | VIVO_CLK | B22, UART2_RX, VIVO_CLK | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| 3V3 | J3 · 17 | power in | — | power_in | — | — | — | — | — | — | — |
| B13 | J3 · 19 | gpio | VIVO_D8 | B13, SPI3_SDO, PWM3, I2C2_SCL, VIVO_D8 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B14 | J3 · 21 | gpio | VIVO_D7 | B14, SPI3_SDI, I2C2_SDA, VIVO_D7 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B15 | J3 · 23 | gpio | VIVO_D6 | B15, SPI3_SCK, UART2_TX, VIVO_D6 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| GND | J3 · 25 | ground | — | ground | — | — | — | — | — | — | — |
| VSYS(5V) | J3 · 2 | power in | — | power_in | — | — | — | — | — | — | — |
| VSYS(5V) | J3 · 4 | power in | — | power_in | — | — | — | — | — | — | — |
| GND | J3 · 6 | ground | — | ground | — | — | — | — | — | — | — |
| A16 | J3 · 8 | gpio | UART0_TX | A16, UART0_TX/UART1_TX, PWM4, UART0_TX | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| A17 | J3 · 10 | gpio | UART0_RX | A17, UART0_RX/UART1_RX, PWM5, UART0_RX | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B19 | J3 · 12 | gpio | VIVO_D2 | B19, UART2_TX, PWM2, VIVO_D2 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| GND | J3 · 14 | ground | — | ground | — | — | — | — | — | — | — |
| A20 | J3 · 16 | gpio | JTAG_CPU_TRST | A20, JTAG_TRST, JTAG_CPU_TRST | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| A19 | J3 · 18 | gpio | JTAG_CPU_TMS | A19, UART1_TX/UART1_RTS, PWM7, JTAG_TMS, JTAG_CPU_TMS | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| GND | J3 · 20 | ground | — | ground | — | — | — | — | — | — | — |
| A18 | J3 · 22 | gpio | JTAG_CPU_TCK | A18, UART1_RX/UART1_CTS, PWM6, JTAG_TCK, JTAG_CPU_TCK | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| B16 | J3 · 24 | gpio | VIVO_D5 | B16, UART2_RX, SPI3_CS, VIVO_D5 | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| A28 | J3 · 26 | gpio | IIC0_SCL | A28, UART2_TX/UART1_TX, IIC0_SCL | ≥ 2.063 V | -0.3–0.825 V | ≥ 2.475 V | ≤ 0.413 V | 5–10.5 mA | 3.1–8.6 mA | no |
| VSYS(5V) | J4 · 52 | power in | — | power_in | — | — | — | — | — | — | — |
| B1 | J4 · 50 | gpio | ADC3 | B1, PWM12, I2C4_SCL, UART3_TX, ADC3 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| B2 | J4 · 48 | gpio | ADC2 | B2, PWM13, I2C4_SDA, UART3_RX, ADC2 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| B3 | J4 · 46 | gpio | ADC1 | B3, ADC1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| E2 | J4 · 44 | gpio | PWR_GPIO2 | E2, PWM10, I2C2_SDA, LCD_RST, PWR_GPIO2 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| E1 | J4 · 42 | gpio | PWR_GPIO1 | E1, PWM9, I2C2_SCL, UART2_RX, LCD_PWR_CT, PWR_GPIO1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| E0 | J4 · 40 | gpio | PWR_GPIO0 | E0, PWM8, UART2_TX, LCD_PWM, PWR_GPIO0 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J4 · 38 | ground | — | ground | — | — | — | — | — | — | — |
| C20 | J4 · 36 | gpio | PAD_MIPI_TXM3 | C20, MIPI_TX_2N, PAD_MIPI_TXM3 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| C21 | J4 · 34 | gpio | PAD_MIPI_TXP3 | C21, MIPI_TX_2P, PAD_MIPI_TXP3 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J4 · 32 | ground | — | ground | — | — | — | — | — | — | — |
| C14 | J4 · 30 | gpio | PAD_MIPI_TXM1 | C14, MIPI_TX_1N, PAD_MIPI_TXM1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| C15 | J4 · 28 | gpio | PAD_MIPI_TXP1 | C15, MIPI_TX_1P, PAD_MIPI_TXP1 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| AUDIO_OUT_R | J4 · 51 | analog | PAD_AUD_AOUTR | AUDIO_OUT_R, PAD_AUD_AOUTR | 1.2–1.98 V | -0.3–0.55 V | ≥ 1.4 V | ≤ 0.4 V | 11.3–26.1 mA | 4.9–18.4 mA | no |
| AUDIO_OUT_L | J4 · 49 | analog | PAD_AUD_AOUTL | AUDIO_OUT_L, PAD_AUD_AOUTL | 1.2–1.98 V | -0.3–0.55 V | ≥ 1.4 V | ≤ 0.4 V | 11.3–26.1 mA | 4.9–18.4 mA | no |
| AUDIO_IN_R | J4 · 47 | analog | PAD_AUD_AINR_MIC | AUDIO_IN_R, PAD_AUD_AINR_MIC | 1.2–1.98 V | -0.3–0.55 V | ≥ 1.4 V | ≤ 0.4 V | 11.3–26.1 mA | 4.9–18.4 mA | no |
| AUDIO_IN_L | J4 · 45 | analog | PAD_AUD_AINL_MIC | AUDIO_IN_L, PAD_AUD_AINL_MIC | 1.2–1.98 V | -0.3–0.55 V | ≥ 1.4 V | ≤ 0.4 V | 11.3–26.1 mA | 4.9–18.4 mA | no |
| 3V3 | J4 · 43 | power in | — | power_in | — | — | — | — | — | — | — |
| C18 | J4 · 41 | gpio | PAD_MIPI_TXM4 | C18, MIPI_TX_3N, PAD_MIPI_TXM4 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| C19 | J4 · 39 | gpio | PAD_MIPI_TXP4 | C19, MIPI_TX_3P, PAD_MIPI_TXP4 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J4 · 37 | ground | — | ground | — | — | — | — | — | — | — |
| C16 | J4 · 35 | gpio | PAD_MIPI_TXM2 | C16, MIPI_TX_CN, PAD_MIPI_TXM2 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| C17 | J4 · 33 | gpio | PAD_MIPI_TXP2 | C17, MIPI_TX_CP, PAD_MIPI_TXP2 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| GND | J4 · 31 | ground | — | ground | — | — | — | — | — | — | — |
| C12 | J4 · 29 | gpio | PAD_MIPI_TXM0 | C12, MIPI_TX_0N, PAD_MIPI_TXM0 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |
| C13 | J4 · 27 | gpio | PAD_MIPI_TXP0 | C13, MIPI_TX_0P, PAD_MIPI_TXP0 | ≥ 1.17 V | -0.3–0.63 V | ≥ 1.35 V | ≤ 0.45 V | 4.8–18.9 mA | 7.6–18 mA | no |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| arace.tech | 9.99 USD | unknown | 2026-09-28 | https://arace.tech/products/milkv-duo-s |

## FAQ

**What microcontroller does the Milk-V Duo S use?**

The Milk-V Duo S is built around the SG2000.

**How many GPIO pins does the Milk-V Duo S have?**

33 GPIO pins are exposed. Xirkit documents 83 board pins, 57 of them with pin-level electrical limits.

**Are the Milk-V Duo S I/O pins 5 V tolerant?**

No. The I/O pins are not 5 V tolerant — they run at 3.3 V logic; use a level shifter for 5 V signals. Input-high threshold: ≥ 2.063 V.

**How much current can a Milk-V Duo S GPIO pin source?**

Documented output-high current per pin: 5–10.5 mA. Values are traced to the chip datasheet; see the pinout table for per-pin limits and conditions.

**What voltage powers the Milk-V Duo S?**

Supply range 5–5 V. Power inputs: 3V3, 3V3, 3V3, 3V3, VSYS(5V), VSYS(5V), VSYS(5V), 3V3.

**How much does the Milk-V Duo S cost?**

From $9.99 at arace.tech. Prices are observed unit prices before tax and shipping.

**What are the Milk-V Duo S dimensions?**

43.18 × 43.18 mm. A STEP model is available for enclosure fit checks.

**Which interfaces does the Milk-V Duo S support?**

camera, gpio, pwm, i2c, uart, spi, jtag, display.

**How do I program the Milk-V Duo S?**

Supported frameworks: Caffe, PyTorch, ONNX, MXNet, TensorFlow Lite.

**Where does this Milk-V Duo S data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [Milk-V Duo S datasheet](https://raw.githubusercontent.com/milkv-duo/duo-files/main/duo-s/hardware/duo_s_SCH_v1.1.pdf)
- [arace.tech listing](https://arace.tech/products/milkv-duo-s)

## Part graph

### Built from

- [SG2000](https://www.xirkit.io/products/category/dev-boards/sg2000) — main processor on the Milk-V Duo S

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