VOXL 2 Camera Configurations

Table of contents

1. Overview
2. Available Configurations
   1. Platform Release 0.9.5
      1. Changes
      2. 1.5.5 Supported Sensor Hardware IDs
      3. 1.5.5 Supported Sensor Settings
   2. Platform Release 0.9
      1. 1.4.1 Supported Sensor Hardware IDs
      2. 1.4.1 Supported Sensor Settings
3. Quickstart Video
4. How to Configure
5. Image Sensor Configurations
   1. C11 - Front Stereo, Rear Stereo, Hires, and Tracking
   2. C3 - Front Stereo, Hires, and Tracking
   3. C10 - Front Stereo Only
   4. C4 - Tracking and Hires Only
   5. C6 - Hires + ToF + Tracking
   6. C8 - Hires Only
   7. C9 - Time of Flight (ToF) Only
   8. CX - Two Time of Flights (ToF)
6. Current Limitations

Overview

VOXL 2 has 3 camera groups (shown below), where each group has:

• QTY-2 full 4 lane MIPI CSI ports
• CCI and camera control signals
• 8 power rails (from 1.05V up to 5V) for cameras and other sensors
• Dedicated SPI bus

Available Configurations

Platform Release 0.9.5

• SDK 0.9.5
• System Image 1.5.5

Changes

• Added IMX678 support 1920x1080@30, 3840x2160@30
• Enabled more sensor options (see table below)

1.5.5 Supported Sensor Hardware IDs

1.5.5 Supported Sensor Settings

Some sensors may list additional capabilities when probed from software. Below are what we’ve tested against, other settings may have unexpected results.

Platform Release 0.9

• SDK 0.9
• System Image 1.4.1

1.4.1 Supported Sensor Hardware IDs

1.4.1 Supported Sensor Settings

Quickstart Video

The following video demonstrates setting up the image sensors for the “C11” VOXL 2 development kit:

How to Configure

VOXL 2 ships with the VOXL SDK, which has the voxl-configure-cameras command.

Image Sensor Configurations

C11 - Front Stereo, Rear Stereo, Hires, and Tracking

C3 - Front Stereo, Hires, and Tracking

C10 - Front Stereo Only

C4 - Tracking and Hires Only

C6 - Hires + ToF + Tracking

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

C8 - Hires Only

Available starting with Platform Release 0.9.5, sys img 1.5.3.

M0061-2 based IMX678, on M0054 J8 (no other camera location for IMX678 is supported in 1.5.3, must be J8).

Shown here, the M0076 interposer plugs into M0054 J8. The M0074 flex then connects to the M0061-2 backpack for the IMX678 module.

M0025-2 based IMX214, on M0054 J8.

SW Setup

voxl2:/$ voxl-configure-cameras 8

C9 - Time of Flight (ToF) Only

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

SW Setup

voxl2:/$ voxl-configure-cameras 9

CX - Two Time of Flights (ToF)

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

Using the M0076-1 interposers on J6 and J8 as examples:

Using the M0084-1 dual camera adapter (“y-flex”) on J8 as example:

SW Setup

NA

Current Limitations

• As a means to allow coexistence of OV7251 sensors on CCI3, we are not resetting sensors when they normally should per Qualcomm, to prevent the sensors losing a runtime address swap. This modification is in the kernel, dmesg shows MODALAI HACK where it’s happening.
• Sensor ID 1 and Sensor ID 5 share a reset line (gpio100), no specific known defects but an area to watch out.
• Sensor indicies assume all six sensors are in place and will shift when not fully populated.
• All camera AVDD rails in this configuration are left on always (2P8VDC) as they’re shared