VOXL 2 Mini Connectors

m0104-datasheets-all

Summary
Pinouts
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Summary

Below describes the VOXL 2 Mini connectors.

m0104-datasheets-connectors

All single ended signals on B2B connectors J6 and J7 are 1.8V CMOS unless explicitly noted. All single ended signals on cable-to-board connectors J10, J19 are 3.3V CMOS unless explicitly noted.

Connector	Description	MPN (Board Side)	Mating MPN (Board/Cable Side)	Type	Signal Feature Summary
J1	Prime Power In, 3.8V	Molex 2059-72-0041	2059792041	Cable Connector, 4-pin R/A	+3.8V main DC power in + GND, I2C@3.8V for power monitors
J2	Fan	SM02B-SRSS-TB(LF)(SN)	SHR-02V-S	Cable Header, 2-pin R/A	5V DC output for FAN + PWM Controlled FAN-Return (GND)
J3	USB3	BM10B-GHS-TB(LF)(SN)	GHR-10V-S	Cable Header, 10-pin vertical
J4	Debug console	BM04B-SRSS-TB(LF)(SN)	SHR-04V-S	Cable Header, 4-pin vertical	Linux debug console enabled in debug kernel builds only
J6	Camera Group 0	DF40C-60DP-0.4V(51)	DF40C-60DS-0.4V	B2B Plug, 60-pin	Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI, GPIO
J7	Camera Group 1	DF40C-60DP-0.4V(51)	DF40C-60DS-0.4V	B2B Plug, 60-pin	Qty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated I2c, GPIO
J9	USB-C (ADB)	12401610E4#2A	USB Type-C	Cable Receptacle, 24-pin R/A	ADB USB-C with OTG/Host mode support (no Display Port) (USB0)
J10	UART/SPI Expansion	SM08B-GHS-TB(LF)(SN)	GHR-08V-S	Cable Header, 8-pin R/A	UART (or SPI with 2 CS_N pins), 32kHz CLK_OUT (resistor option), all 3.3V CMOS signal levels
J19	ESC/GNSS/MAG/RC	SM12B-GHS-TB(LF)(SN)	GHR-12V-S	Cable Header, 12-pin R/A	RC UART@3.3V, ESC UART@3.3V, GNSS UART@3.3V, Magnetometer I2C@3.3V, 5V, 3P3V_RC (SW controllable)

Pinouts

J1 - Power Connector / I2C Battery Monitoring

Note: for use with ModalAI Power Module V3 in the “-4” config set to 3.8V.

Pin#	Signal	Notes/Usage
1	VBAT_IN_3P8V	DC from Power Module, 3.8V nominal/fixed or 1S ranges (3.3V to 4.25V)
2	GND	Power Module Return
3	I2C_CLK_3P8V	SSC_QUP_1, 3.8V signal levels, Pullups on Power Module
4	I2C_SDA_3P8V	SSC_QUP_1, 3.8V signal levels, Pullups on Power Module

J2 - 5VDC Fan Control

Pin #	Signal Name	Notes
1	VDC_5V_LOCAL	5V power output **
2	FAN RETURN (GND)	Return limited to ~400mA

J3 USB 3 10-pin

This format is identical to M0090, M0130

Pin#	Signal	Notes/Usage
1	5VDC	5V VBUS power output, 900mA total when VBAT_IN = 3.8V **
2	USB1_HS_HUB3_CON_D_N	EMI/ESD filters on-board
3	USB1_HS_HUB3_CON_D_P	EMI/ESD filters on-board
4	GND
5	USB1_HUB3_SS_RX_N	EMI/ESD filters on-board
6	USB1_HUB3_SS_RX_P	EMI/ESD filters on-board
7	GND
8	USB1_HUB3_SS_TX_N	EMI/ESD filters on-board
9	USB1_HUB3_SS_TX_P	EMI/ESD filters on-board
10	GND

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Note: There is a known HW issue on the USB3 Super-speed TX lines where the AC caps are not included. Please include AC caps on any mating HW, both RX and TX, or your link may be limited to USB2 speeds. We plan to fix this on a future spin of Voxl2 Mini. Our MCBL-00022 host port adapter can be manually modified to insert serial caps on the TX lines using radial components as a work-around if using a COTS USB3 device.
documentation/master

J4 - Serial Debug Port

This format is identical to other ModalAI debug ports

Pin#	Signal	Notes/Usage
1	VREG_3P3V_LOCAL	3.3V Power Output *
2	DEBUG_UART_RX_3P3V	QUP_12 UART Receive (input), 3.3V signal levels
3	DEBUG_UART_TX_3P3V	QUP_12 UART Transmit (output), 3.3V signal levels
4	GND

Camera Group J6, J7

General Pin-out

Generic camera group pinout, please work with ModalAI for any mating designs to gauranteee proper operation

Pin#	Signal
1	GND
2	GND
3	Lower CCI_I2C_SDA
4	DVDD 1.2V
5	Lower CCI_I2C_SCL
6	DOVDD 1.8V
7	GND
8	DVDD 1.05V
9	Lower CSI_CLK_P
10	Lower RST_N
11	Lower CSI_CLK_M
12	Lower MCLK
13	Lower CSI_DAT0_P
14	GND
15	Lower CSI_DAT0_M
16	Lower CCI Timer
17	GND
18	Upper CCI Timer
19	Lower CSI_DATA1_P
20	Upper MCLK
21	Lower CSI_DATA1_M
22	AVDD 2.8V
23	Lower CSI_DATA2_P
24	GND
25	Lower CSI_DATA2_M
26	Upper RST_N, Shared
27	GND
28	Upper CCI_I2C_SDA
29	Lower CSI_DATA3_P
30	Upper CCI_I2C_SCL
31	Lower CSI_DATA3_M
32	Spare MCLK/GPIO
33	GND
34	Group SPI MISO (groups 0/1)
35	Upper CSI_CLK_P
36	Group SPI MOSI (groups 0/1)
37	Upper CSI_CLK_M
38	Group SPI SCLK (groups 0/1)
39	Upper CSI_DATA0_P
40	Group SPI CS_N (groups 0/1)
41	Upper CSI_DATA0_M
42	VREG_S4A_1P8
43	GND
44	GND
45	Upper CSI_DATA1_P
46	VPH_PWR 3.8V
47	Upper CSI_DATA1_M
48	VPH_PWR 3.8V
49	Upper CSI_DATA2_P
50	GND
51	Upper CSI_DATA2_M
52	3.3V
53	GND
54	GND
55	Upper CSI_DATA3_P
56	5V
57	Upper CSI_DATA3_M
58	5V
59	GND
60	GND

J6 - Camera Group 0 Specific Pinout

VOXL 2 Mini supports Camera Group 0 and 1 from the VOXL 2 Camera Configs.

Connector: DF40C-60DP-0.4V(51)

Device Tree:

qcom,cam-sensor0
qcom,cam-sensor1

J6 Pin-out

Pin #	Signal Name	Usage / Notes
1	GND
2	GND
3	CCI_I2C0_SDA	CAM0_CCI0_SDA, gpio101
4	VREG_PM8009_L2_1P2	DVDD 1.2V
5	CCI_I2C0_SCL	CAM0_CCI0_SCL, gpio102
6	VREG_PM8009_L7_1P8	CAM0_VIO_1P8, CAM0_VIO_1P8
7	GND
8	VREG_PM8009_L1_1P05	CAM0_VDD_1P05, NOTE: current this is ~1.13VDC
9	CSI0_CLK_CON_P
10	GPIO_93_CAM0_RST_N	CAM0_RST_N, gpio93
11	CSI0_CLK_CON_N
12	GPIO_94_CAM_MCLK0_CON	CAM_MCLK0_CON, gpio94
13	CSI0_LANE0_CON_P	LEFT
14	GND
15	CSI0_LANE0_CON_N	LEFT
16	GPIO_110_CCI_TIMER1	(unused in version 0)
17	GND
18	GPIO_113_CCI_TIMER4	CAM_FSYNC_1_OUT, CAM_FSYNC0_IN
19	CSI0_LANE1_CON_P	RIGHT
20	CAM_MCLK1_CON	CAM_MCLK1_CON, gpio95
21	CSI0_LANE1_CON_N	RIGHT
22	VREG_PM8009_L5_2P8	CAM0_AVDD_2P8, CAM1_AVDD_2P8
23	CSI0_LANE2_CON_P
24	GND
25	CSI0_LANE2_CON_N
26	GPIO_109_CAM3_RST_N	(shared, CAM3_RST_N)
27	GND
28	CCI_I2C1_SDA	CAM1_CCI1_SDA, CAM4_CCI1_SDA
29	CSI0_LANE3_CON_P
30	CCI_I2C1_SCL	CAM1_CCI1_SCL, CAM4_CCI1_SCL

Pin #	Signal Name	Notes
31	CSI0_LANE3_CON_N
32	MCLK6_G0_CON	(shared) CAM1_RST_N, gpio100,
33	GND
34	GPIO_28_CAM0_SPI0_MISO	`/dev/spidev0.0`
35	CSI1_CLK_CON_P
36	GPIO_29_CAM0_SPI0_MOSI	`/dev/spidev0.0`
37	CSI1_CLK_CON_N
38	GPIO_30_CAM0_SPI0_CLK	`/dev/spidev0.0`
39	CSI1_LANE0_CON_P
40	GPIO_31_CAM0_SPI0_CS	`/dev/spidev0.0`
41	CSI1_LANE0_CON_N
42	VREG_S4A_1P8
43	GND
44	GND
45	CSI1_LANE1_CON_P
46	VPH_PWR
47	CSI1_LANE1_CON_N
48	VPH_PWR
49	CSI1_LANE2_CON_P
50	GND
51	CSI1_LANE2_CON_N
52	VREG_3P3V_LOCAL
53	GND
54	GND
55	CSI1_LANE3_CON_P
56	VDC_5V_LOCAL
57	CSI1_LANE3_CON_N
58	VDC_5V_LOCAL
59	GND
60	GND

J7 - Camera Group 1 Specific Pinout

VOXL 2 Mini supports Camera Group 0 and 1 from the VOXL 2 Camera Configs.

Connector: DF40C-60DP-0.4V(51)

Device Tree:

qcom,cam-sensor2
qcom,cam-sensor3

J7 Pin-out

Pin #	Signal Name	Usage / Notes
1	GND
2	GND
3	CCI_I2C2_SDA	CAM2_CCI1_SDA, gpio105
4	VREG_PM8009_L2_1P2	(M0084, R1 not stuffed, not routed)
5	CCI_I2C2_SCL	CAM2_CCI1_SCL, gpio106
6	VREG_PM8009_L7_1P8	CAM2_DOVDD_1P8, CAM3_DOVDD_1P8
7	GND
8	VREG_PM8009_L1_1P05	(M0084, R2 stuffed) CAM2_VDD_1P05,CAM3_VDD_1P05 (NOTE: current this is ~1.13VDC)
9	CSI2_CLK_CON_P
10	GPIO_92_CAM1_RST_N	RST_LOWER_N, gpio92
11	CSI2_CLK_CON_N
12	GPIO_96_CAM_MCLK2	MCLK_LOW, gpio96
13	CSI2_LANE0_CON_P
14	GND
15	CSI2_LANE0_CON_N
16	GPIO_111_CCI_TIMER2	CCI_TIMER_LOWER
17	GND
18	GPIO_114_CCI_ASYNC_IN	CCI_TIMER_UPPER
19	CSI2_LANE1_CON_P
20	GPIO97_CAM_MCLK3_CON	MCLK_UPPER, gpio97
21	CSI2_LANE1_CON_N
22	VREG_PM8009_L6_2P8	AVDD_2P8, CAM2_DOVDD_2P8, CAM3_DOVDD_2P8
23	CSI2_LANE2_CON_P
24	GND
25	CSI2_LANE2_CON_N
26	GPIO_109_CAM3_RST_N	(shared, RST_UPPER_SHARED_N)
27	GND
28	CCI_I2C3_SDA	CAM3_CCI3_SDA, CAM5_CCI3_SDA, gpio107
29	CSI2_LANE3_CON_P
30	CCI_I2C3_SCL	CAM3_CCI3_SCL, CAM5_CCI3_SCL, gpio108

Pin #	Signal Name	Notes
31	CSI2_LANE3_CON_N
32	MCLK6_G1_CON	(shared) GPIO_MCLK6_SHARED, gpio100
33	GND
34	GPIO_4_CAM1_SPI1_MISO	GPIO_4, `/dev/i2c-4`
35	CSI3_CLK_CON_P
36	GPIO_5_CAM1_SPI1_MOSI	GPIO_5, `/dev/i2c4`
37	CSI3_CLK_CON_N
38	GPIO_6_CAM1_SPI1_CLK	GPIO_6,
39	CSI3_LANE0_CON_P
40	GPIO_7_CAM1_SPI1_CS	GPIO_7,
41	CSI3_LANE0_CON_N
42	VREG_S4A_1P8
43	GND
44	GND
45	CSI3_LANE1_CON_P
46	VPH_PWR
47	CSI3_LANE1_CON_N
48	VPH_PWR
49	CSI3_LANE2_CON_P
50	GND
51	CSI3_LANE2_CON_N
52	VREG_3P3V_LOCAL
53	GND
54	GND
55	CSI3_LANE3_CON_P
56	VDC_5V_LOCAL
57	CSI3_LANE3_CON_N
58	VDC_5V_LOCAL
59	GND
60	GND

J10 - External SPI

Overview

J10 Pin-out, SPI Mode, Default (GPIO_67 = HIGH)

Available from apps proc as /dev/spidev14.0.

Pin#	Signal	Notes/Usage
1	VREG_3P3V_LOCAL	3.3V Power Output *
2	MISO (Input)	APPS_QUP_14, 3.3V signal levels
3	MOSI (Output)	APPS_QUP_14, 3.3V signal levels
4	SCLK (Output)	APPS_QUP_14, 3.3V signal levels
5	CS0_N (Output)	APPS_QUP_14, 3.3V signal levels
6	CS1_N/GPIO_46 (Output)	Second SPI CS_N or GPIO
7	GPIO_64_INT_N (Input)	Interrupt Input, 3.3V signal levels
8	GND	GND

J10 Pin-out, UART Mode, (GPIO_67 = LOW)

NOTE: this requires a TrustZone devcfg and kernel update. Contact forum.modalai.com for inquiries.

Pin#	Signal	Notes/Usage
1	VREG_3P3V_LOCAL	3.3V Power Output *
2	GPI_40 (Input)	3.3V signal levels
3	GPO_41 (Output)	3.3V signal levels
4	UART_TX (Output)	APPS_QUP_14, 3.3V signal levels
5	UART_RX (Input)	APPS_QUP_14, 3.3V signal levels
6	GPI_46 (Input)	3.3V signal levels
7	GPI_64_INT_N (Input)	Interrupt Input, 3.3V signal levels
8	GND	GND

J19 - External Sensors (2x UART/ 2x I2C)

J19 Pin-out

Pin #	Signal Name	Notes
1	VDC_5V_LOCAL	GNSS/Mag 5V power output, 900mA total when VBAT_IN = 3.8V **
2	GNSS TX 3P3V	slpi_proc, SSC_QUP6, 3.3V signal levels
3	GNSS RX 3P3V	slpi_proc, SSC_QUP6, 3.3V signal levels
4	MAG SCL 3P3V	slpi_proc, SSC_QUP0, 3.3V signal levels
5	MAG SDA 3P3V	slpi_proc, SSC_QUP0, 3.3V signal levels
6	GND
7	ESC_UART_TX 3P3V	slpi_proc, SSC_QUP2, 3.3V signal levels
8	ESC_UART_RX 3P3V	slpi_proc, SSC_QUP2, 3.3V signal levels
9	VREG_3P3V_RC	RC power *, controllable via GPIO 159
10	RC_UART_TX (Output)	slpi_proc, SSC_QUP7, 3.3V signal levels
11	RC_UART_RX (Input)	slpi_proc, SSC_QUP7, 3.3V signal levels
12	GND

SW Summary

All connected to the DSP, and in the factory configuration are used as follows:

QUP0 - I2C for external magnetomter
QUP2 - PX4 communicates to the VOXL ESC through this UART.
QUP6 - UART for external GNSS (GPS)
QUP7 - UART for external RC input

Power Input/Output Important Note:

All power outputs on cable connectors are rated for 1A, however, the system cannot provide 1A simultaneously on all connectors. Contact ModalAI for design assistance.

** VBUS and all 5V power outputs are limited to 900mA TOTAL for all loads (Fan, VBUS, and external GNSS/Mag)