VOXL 2 Mini Image Sensors

Table of contents

1. Overview
   1. Summary
   2. Please, Don’t Hot Swap!
   3. Stereo Flex not Currently Supported
2. Development Kit Configurations
   1. MDK-M0104-1-C4 - Hires, Tracking
      1. Hardware Setup
      2. Software Setup
   2. MDK-M0104-1-C6 - ToF, Hires, Tracking
      1. Hardware Setup
      2. Software Setup
3. Hardware Information
   1. Camera Configuration Summary
   2. Interposers
      1. M0135 - Dual Sensor Interposer
      2. M0076 - Single Sensor Interposer
      3. M0084 - Dual Sensor Flex
   3. Image Sensors
      1. Tracking
      2. ToF
      3. Hires
   4. Beta Configurations
      1. Dual ToF, Dual Tracking
         1. Hardware Setup
         2. Software Setup
      2. Quad Tracking
         1. Hardware Setup
         2. Software Setup

Overview

Summary

In general, the process for selecting image sensors and interposers are use case specific, but there are some common use cases that the VOXL ecosystem supports out of the box.

The following describe two configurations that are available as development kits.

Lower on this page, general information about the interposers and image sensors will be listed that provide customization options.

Please, Don’t Hot Swap!

When playing with the hardware, please ensure you unplug VOXL 2 Mini from the power supply and USB when changing image sensors. If you have the system powered on, you can damage things!

Stereo Flex not Currently Supported

The stereo sensor flex is not currently supported in the VOXL 2 Mini camera configurations.

Development Kit Configurations

MDK-M0104-1-C4 - Hires, Tracking

Hardware Setup

Software Setup

Run the following command on target to configure.

camera-server-config-helper hires:imx214:0 tracking0:ov7251:1

To check the camera streams, run voxl-insepect-cam -a:

MDK-M0104-1-C6 - ToF, Hires, Tracking

Hardware Setup

Software Setup

Run the following command on target to configure.

camera-server-config-helper tof:pmd-tof:0 hires:imx214:1 tracking0:ov7251:2

You can check the image sensor status using voxl-inspect-cam -a:

Hardware Information

Camera Configuration Summary

There are four 4-lane CSI and four CCI interfaces exposed on two connectors, J6 and J7.

• J6 - CCI0/CSI0 and CCI1/CSI1, representing HW IDs 0/1 respectively
• J7 - CCI2/CSI2 and CCI3/CSI3, representing HW IDs 2/3 respectively

Custom flexes can be made to interface to J6/J7, or the following interposers can be used.

Interposers

The VOXL 2 Mini (board ID M0104) ecosystem consists of “interposers” to provide image sensor connections to the board.

These interposers route the image sensor contral and data, and also interfaces like SPI/UART/I2C/GPIO in some cases. The focus of this document is just image sensor connections.

M0135 - Dual Sensor Interposer

• QTY 2 Sensors
• M0135 Datasheet
• M0104 connectors: J6 or J7

M0076 - Single Sensor Interposer

• QTY 1 Sensor
• M0076 Datasheet
• M0104 connectors: J6 or J7

M0084 - Dual Sensor Flex

• QTY 2 Sensors
• M0084 Datasheet
• M0104 connectors: J6 or J7

Image Sensors

Tracking

• Limitations: total 4 concurrent Tracking Sensors at once on VOXL 2 Mini

ToF

• Limitations: total 2 concurrent ToF Sensors at once on VOXL 2 Mini

Hires

• Limitations: total 2 concurrent Hires Sensors at once on VOXL 2 Mini

Beta Configurations

The following are not supported by the voxl-configure-mpa setup and are considered beta level.

Dual ToF, Dual Tracking

Hardware Setup

Software Setup

camera-server-config-helper tof0:pmd-tof:0 tracking0:ov7251:1 tof2:pmd-tof:2 tracking1:ov7251:2

Quad Tracking

NOTE: QVIO currently only supports a single input.

Hardware Setup

Software Setup

camera-server-config-helper tracking0:ov7251:0 tracking1:ov7251:1 tracking2:ov7251:2 tracking3:ov7251:3