M0188 VOXL 2 Mini Sparrow Imager Adapter
Table of contents
- Summary
- Hardware
- Software
Summary
Features
M0188 Serves as a breakout for Camera Groups J6 and J7 on VOXL 2 Mini.
- Micro Coax camera connections
- 4 two lane MIPI-CSI
- 2 four lane MIPI-CSI
- hardware synchronization
- 2 FLIR Lepton 3.5 sensor interfaces (1 natively, another using an additional cable to route to an extra SPI).
- 8 channel I2C mux (TCA9548AMRGER, address 0x76)
Hardware Requirements
- Only compatible with VOXL 2 Mini
- Micro-coax Cables MCBL-00084
VOXL SDK Requirements
VOXL SDK 1.4.0+ is required.
Kernel Requirements for M0188
M0188 requires kernel m0104-1-var00.2-kernel.img.
When installing SDK, select “D0013” option to install this kernel.
Dimensions
3D Drawings
2D Drawings
TODO
Specifications
| Feature | Details |
|---|---|
| Weight | TODO g |
| HxW | TODO |
Hardware
Hardware Block Diagram
Connectors
Summary
| Connector | Description |
|---|---|
| J0 | Tracking Sensor ID0 |
| J1 | Hires Sensor ID1 |
| J2 | Tracking Sensor ID2 |
| J3 | Hires Sensor ID3 |
| J6 | Tracking Sensor ID6 |
| J8 | Tracking Sensor ID8 |
| Connector | Description |
|---|---|
| P6 | Board to Board - mates to M0104 J6 |
| P7 | Board to Board - mates to M0104 J7 |
| Connector | Description |
|---|---|
| J4 | Connects to M0104 J10 SPI |
| J5 | FLIR Leptopn 2 |
| J10 | FLIR Leptopn 1 |
| Connector | Description |
|---|---|
| J01 | TODO |
| J23 | TODO |
| J45 | TODO |
| J67 | TODO |
Image Sensor Interfaces
- requires kernel
m0104-1-var00.2-kernel.img
Notes for Sensors
- supported coax cables
- HW synchronization
- tracking sensors enabled sync by default using GPIO 109 (voxl-fsync-mod)
J0 - Tracking Sensor ID0
- supported image sensors
- M0161 - 1280x800 Global Shutter Sensor AR0144
- 2 MIPI lane support, in combo mode with Sensor ID6
J1 - Hires Sensor ID1
- supported image sensors
- M0161 - 4k High-resolution, Low-light, IMX412
- 4 MIPI lane support
J2 - Tracking Sensor ID2
- supported image sensors
- M0166 - 1280x800 Global Shutter Sensor AR0144
- 2 MIPI lane support, in combo mode with Sensor ID8
J3 - Hires Sensor ID3
- supported image sensors
- M0161 - 4k High-resolution, Low-light, IMX412
- 4 MIPI lane support
J6 - Tracking Sensor ID6
- supported image sensors
- M0161 - 1280x800 Global Shutter Sensor AR0144
- 2 MIPI lane support, in combo mode with Sensor ID0
J8 - Tracking Sensor ID8
Not supported yet
FLIR Lepton Interfaces
Lepton 1 - J10
TODO PINOUT
Lepton 2 - J5 (external SPI to M0104 J10)
TODO PINOUT
I2C Mux Interfaces
Summary
An 8-channel I2C mux (TCA9548AMRGER) is on the /dev/i2c-0 bus at address 0x76 when mated to VOXL2 Mini.
J01 - I2C0 and I2C1
TODO PINOUT
J23 - I2C2 and I2C3
TODO PINOUT
J45 - I2C4 and I2C5
TODO PINOUT
J67 - I2C6 and I2C7
TODO PINOUT
Software
Linux Users Guide
Lepton 1 - J10
The /dev/spidev0.0 SPI interface comes through M0188 P6, the /dev/i2c-0 I2C inteface comes though M0188 P7.
I2C is shared between Lepton 1 and Lepton 2 and we need to use a channel selector.
For Lepton 1 I2C, you need to use CHANNEL0 of the TCA9543A device (write 0x01 to address 0x01 on slave device 0x73).
Lepton 2 - J5 (external SPI to M0104 J10)
The /dev/spidev14.0 SPI interface comes through J4 that connects to M0104 J10 externally, the /dev/i2c-0 I2C inteface comes though P7.
I2C is shared between Lepton 1 and Lepton 2 and we need to use a channel selector.
For I2C, you can use CHANNEL1 of the TCA9543A device (write 0x02 to address 0x01 on slave device 0x73).
I2C Mux Interfaces
Summary
An 8-channel I2C mux (TCA9548AMRGER) is on the /dev/i2c-0 bus at address 0x76 when mated to VOXL2 Mini.
J01 - I2C0 and I2C1
To use CHANNEL0 of the TCA9548A device (write 0x01 to address 0x01 on slave device 0x76). To use CHANNEL1 of the TCA9548A device (write 0x02 to address 0x01 on slave device 0x76).
J23 - I2C2 and I2C3
To use CHANNEL2 of the TCA9548A device (write 0x04 to address 0x01 on slave device 0x76). To use CHANNEL3 of the TCA9548A device (write 0x08 to address 0x01 on slave device 0x76).
J45 - I2C4 and I2C5
To use CHANNEL4 of the TCA9548A device (write 0x10 to address 0x01 on slave device 0x76). To use CHANNEL5 of the TCA9548A device (write 0x20 to address 0x01 on slave device 0x76).
J67 - I2C6 and I2C7
To use CHANNEL6 of the TCA9548A device (write 0x40 to address 0x01 on slave device 0x76). To use CHANNEL7 of the TCA9548A device (write 0x80 to address 0x01 on slave device 0x76).