M0173 VOXL 2 Starling 2 Front End

M0173 Serves as a breakout for Camera Groups J6 and J7 on VOXL 2. It exposes 4 COAX camera connectors for use with M0166 Tracking Cameras or M0161 IMX412 Hires cameras. It also exposes a connector for use with a single PMD TOF sensor, and a connector for attaching an M0157 Lepton plus rangefinder board.

VOXL 2 Coax Camera Bundle

Table of contents

1. Overview
   1. VOXL SDK Requirements
   2. Hardware Requirements
2. New Kernel Configuration for M0173
3. Features
   1. VOXL2 Driven Image Sensor Synchronization
   2. Downward Range Finder and FLIR Lepton
4. Connectors
   1. J1 - Front Tracking : ID0 (CSI0)
   2. J2 - Downward Tracking : ID6 (CSI0/Combo)
   3. J3 - Front T0F: ID3 (CSI3)
   4. J4 - Front Hires : ID1 (CSI1)
   5. J5 - Downward Hires : ID2 (CSI2)
   6. J6 - SM08B-SRSS-TB

Overview

VOXL SDK Requirements

VOXL SDK 1.3.0+ is required.

Hardware Requirements

Only compatible with VOXL 2

New Kernel Configuration for M0173

The D0014/D0012 drone family uses the new kernel config 1 (as opposed to config 0). See /sys/module/voxl_platform_mod/parameters/config to verify proper kernel config.

Features

VOXL2 Driven Image Sensor Synchronization

In the D0014/D0012 architecture using the M0173 breakout, the following occurs for the tracking sensors:

• The voxl-fysnc-mod ships in SDK 1.3+ and defaults to use GPIO 109, 30Hz, and disabled.
• When a C26/C27/C8 image sensor configurations is setup using voxl-configure-cameras, the config file at /etc/modalai/voxl-camera-server.conf is setup with:

...
"fsync_en":	true,
"fsync_gpio":	109,
...

• When camera server runs, it will use the voxl-fsync-mod params exposed to the file system at /sys/module/voxl_fsync_mod/parameters, for example enabled, gpio_num, and enable the sync pulse at the default 30Hz.
• When a C26/C27/C8 image sensor configurations is setup using voxl-configure-cameras, the AR0144 drivers are copied into /usr/lib/camera that are setup for slave mode and will capture sychronized frames at the rate defined (note: the FPS should also be configured in /etc/modalai/voxl-camera-server.conf accordinly to ensure proper register settings are loaded)

Downward Range Finder and FLIR Lepton

In the D0014/D0012 architecture using the M0173 breakout:

• VL53L1CX Range Finder is accesible over /dev/i2c-4, see /etc/modalai/voxl-rangefinder-server.conf and voxl-rangefinder
• Not supported in SDK 1.3.0 but coming soon, FLIR Lepton is accesible over /dev/i2c-4 and /dev/spidev0.0, see /etc/modalai/voxl-lepton-server.conf and voxl-lepton-server

Connectors

J1 - Front Tracking : ID0 (CSI0)

J2 - Downward Tracking : ID6 (CSI0/Combo)

J3 - Front T0F: ID3 (CSI3)

J4 - Front Hires : ID1 (CSI1)

J5 - Downward Hires : ID2 (CSI2)

J6 - SM08B-SRSS-TB