Link Search Menu Expand Document

VOXL Time of Flight (ToF) Sensor Datasheet (IRS2975C)

Specification

The PMD Time of Flight sensor produces high-fidelity depth mapping indoors up to 6m. On the VOXL platform this sensor is mutually exclusive to the stereo cameras, meaning the stereo cameras need to be replaced with the TOF Add-on.

The M0169-1 ToF adapter has the M0040-1 backwards compatible Panasonic AXT connector, but requires external 5V power. The M0169-1 adapter can be used with the M0036-1 or M0074-1 extension flexes to connect to VOXL 2.

The in development M0171-1 adapter does not require external power, but is exclusive to VOXL 2.

Requirements

  • VOXL (APQ8096) not supported.
  • VOXL 2 (QRB5165) Requires SDK 1.2 or greater

Details

SpecicifcationValue
Part NumberMSU-M0169-1-01
TechnologyPMD
Rate5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Resolution240 x 180 px
FOV (H x W)106° x 86°, 138.4° DFOV Max
Range4 - 6m
Illumination940nm
Depth ResolutionTBD
Time SyncNo physical pin, but the frame timestamp is measured with 50ns precision on a single clock. All of the sensors on the VOXL platform are timestamped for computer vision.
Power ConsumptionTBD
WeightTBD
DimensionsTBD
Eye SafeYes

Current Consumption

The module draws 1.0-1.2Amp bursts continuously (>5ms pulses occurring rapidly enough to warrant a 2A+ DC/DC on the M0169-1 PCB). The average current draw is 300mA, but the pulses require a dedicated 2A DC/DC for the ToF module to work. Consequently, the DC/DC converter on M0169-1 requires 4-5V with at least 1.4-1.5A+ to account for cable losses and efficiencies.

M0169-current.jpg

  • Yellow: VCSEL current draw (1A/1V)
  • Green : VCSEL enable signal (turns on the emitter at the beginning of exposure)
  • Purple: VCSEL supply voltage (3.30V in off state, sags to 3.25V during bursts, likely cable losses in test setup)

2D/3D Drawings of Module

Drawings and Images

Image of Working Module

M0169-1.jpg

Render of Module Stack

M0169-1-module-stack-render.jpg

Render of Module Top

M0169-1-top.jpg

Render of Module Bottom

M0169-1-bottom.jpg

Pin-out

Pin-out J?

Connector Specs

VOXL Board ConnectorM0169-1 J? Mating Connector
Panasonic, MPN: AXT336124Panasonic MPN: AXT436124

Pin-out

Pin #Signal NamePin #Signal Name
1GND2GND
3VREG_L17A_2P8 (AFVDD)4CAM0_STANDBY_N
5CCI_I2C_SDA06VREG_LVS1A_1P8 (DOVDD)
7CCI_I2C_SCL08VREG_L3A_1P1 (DVDD)
9CAM0_RST0_N10CAM_MCLK0_BUFF
11GND12GND
13MIPI_CSI0_CLK_CONN_P14CAM_FLASH
15MIPI_CSI0_CLK_CONN_M16CAM_SYNC_0
17MIPI_CSI0_LANE0_CONN_P18CAM0_MCLK3
19MIPI_CSI0_LANE0_CONN_M20VREG_L22A_2P8 (AVDD)
21GND22GND
23MIPI_CSI0_LANE1_CONN_P24CAM_RST1_N
25MIPI_CSI0_LANE1_CONN_M26CAM_SYNC_1
27MIPI_CSI0_LANE2_CONN_P28CCI_I2C_SDA1
29MIPI_CSI0_LANE2_CONN_M30CCI_I2C_SCL1
31GND32GND
33MIPI_CSI0_LANE3_CONN_P34VPH_PWR
35MIPI_CSI0_LANE3_CONN_M36GND

VOXL SDK Usage

Note: This guide assumes that you are able to run commands on VOXL2; if you cannot, please see VOXL Developer Bootcamp. All commands specified below should be run on VOXL2.

Supported Sensor Module

  • M0169-1 IRS2975C Module (Requires VOXL SDK >= v1.2)

IRS2975C Camera Server Configuration

Note: IRS2975C support is coming to VOXL camera server in VOXL SDK release 1.2

In order to set up your VOXL2 to use just the IRS2975C ToF sensor, connect the camera to the J6 Lower camera connector (it must have ID 0; for more details, see VOXL2 Camera Configs). Then, run voxl-configure-cameras 24 in order to configure VOXL camera server to use the M0169-1 ToF sensor.

If you wish to use any of the pre-existing M0040-1 ToF configurations listed in the VOXL2 Camera Configs page, first run voxl-configure-cameras <id>, where <id> is the ID number of the configuration you wish to use. Then, edit the VOXL Camera Server configuration file on VOXL2 (/etc/modalai/voxl-camera-server.conf) and replace the line containing "type": "pmd-tof", with "type": "pmd-tof-liow2",. You have now updated a legacy M0040-1 ToF configuration to function with the newer M0169-1 module.

After performing either of the above procedures, please reboot VOXL2 in order to reload the VOXL camera server configuration. To verify functionality, please see the VOXL Portal section below.

VOXL Portal

In order to verify the functionality of your ToF configuration, you can attempt to view the IR and depth map images in VOXL portal. In order to view VOXL portal, your VOXL should be connected to the internet (see VOXL2 WiFi Setup).

After your VOXL is connected to the internet, run systemctl status voxl-portal. Then, find the IP address of your VOXL using hostname -I and visit this address in the web browser of a computer connected to the same local network as your VOXL (or your VOXL’s access point, in AP mode). Then, navigate to “Cameras > TOF Conf / Depth / IR” in the top navigation bar, and verify that the displayed video stream matches what the camera is pointed at.

Example Code

The best approach to access TOF data on VOXL is to write an MPA client that listens to the voxl-camera-server pipe data. An example of that is here.

Lower-level Examples

HAL3 TOF Point Cloud Publishing to MPA Pipe in voxl-camera-server