M0195 VOXL 2 Mini Stinger Imager Adapter

Table of contents

1. Summary
   1. Features
   2. Hardware Requirements
   3. VOXL SDK Requirements
   4. Kernel Requirements for M0195
   5. Dimensions
      1. 3D Drawings
      2. 2D Drawings
   6. Specifications
2. Hardware
   1. Connectors
      1. Summary
   2. Image Sensor Interfaces
      1. MIPI Connection Details
      2. Support Camera Configs
      3. Notes for Sensors
      4. J0 - Tracking Sensor ID0
      5. J1 - Hires Sensor ID1
      6. J2 - Thermal Sensor ID2
      7. J3 - Hires Sensor ID3
      8. J6 - Tracking Sensor ID6
   3. FLIR Lepton Interfaces
      1. Lepton 1 - J10
      2. Lepton 2 - J5 (external SPI to M0104 J10)
3. Software
   1. Linux Users Guide
      1. Lepton 1 - J10
      2. Lepton 2 - J5 (external SPI to M0204 J10)
      3. Baromter Interface
      4. I2C Mux Interfaces

Summary

Features

M0195 Serves as a breakout for Camera Groups J6 and J7 on VOXL 2 Mini.

• Micro Coax camera connections
  • 2 one lane MIPI-CSI in combo mode for CV (AR0144, M0166)
  • 2 four lane MIPI-CSI for EO (IMX664, M0161)
  • 1 four lane MIPI-CSI for Thermal (Boson+)
• image sensor hardware synchronization
• 2 FLIR Lepton 3.5 sensor interfaces (1 natively, another using an additional cable to route to an extra SPI)
• 2 channel I2C mux (TCA9543A, address 0x73)
• 1 I2C connection for ModalAI VTX power monitoring (on /dev/i2c-0, ADC address 0x1D, Temp address 0x48)
• 1 ICP-10100 Barometer (on /dev/i2c-0, address 0x63)

Hardware Requirements

• Only compatible with VOXL 2 Mini
• Micro-coax Cables MCBL-00084

VOXL SDK Requirements

VOXL SDK 1.5.0+ is required.

Kernel Requirements for M0195

M0195 requires kernel m0104-1-var00.2-kernel.img.

When installing SDK, select “D0013” option to install this kernel.

Dimensions

3D Drawings

TODO

2D Drawings

TODO

Specifications

Hardware

Connectors

Summary

Image Sensor Interfaces

• requires kernel m0104-1-var00.2-kernel.img

MIPI Connection Details

Support Camera Configs

Notes for Sensors

• supported coax cables
  • MCBL-00084
• 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 - Thermal Sensor ID2

• supported image sensors
  • Boson+ (M0201 backpack)
• 2 MIPI lane support

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

FLIR Lepton Interfaces

Lepton 1 - J10

TODO PINOUT

Lepton 2 - J5 (external SPI to M0104 J10)

TODO PINOUT

Software

Linux Users Guide

Lepton 1 - J10

The /dev/spidev0.0 SPI interface comes through M0195 P6, the /dev/i2c-0 I2C inteface comes though M0195 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 M0204 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).

Baromter Interface

A ICP-10100 barometer is exposed on /dev/i2c-0 (address 0x63) when M0195 attached to M0204 (VOXL2 Mini)

I2C Mux Interfaces

A 2 channel I2C mux (TCA9543A) is on the /dev/i2c-0 bus at address 0x73 when mated to VOXL2 Mini.