Feature Stack

Table of contents

  1. Core Components and Tools
  2. ModalAI Applications
  3. Open Source Packages
  4. Qualcomm Proprietary Enablers
    1. Tested SNAV / MV Combinations
  5. VOXL Release Versions

Core Components and Tools

Feature Description Binary Source Code Usage Instructions
PCB   Schematic PDF Location Coming Soon TBD  
Datasheet     VOXL Datasheet
Snapdragon 820 Datasheet
Snapdragon 820 docs
Yocto Kernel Yocto Jethro-built Linux kernel 3.18 Binary Download Source Instructions
Yocto Image Yocto Jethro-built Linux Userspace based on kernel 3.18 Binary Download Source to add new userspace packages Coming soon
Yocto Compiler   gcc-4.8-multilib   Build Yocto Image
meta-debian     Source README
cross-compiler A Docker environment to compile for CPU and Hexagon DSP https://gitlab.com/voxl-public/voxl-docker https://gitlab.com/voxl-public/voxl-docker  
Emulator An Docker-based ARM emulator for the VOXL/Snapdragon 820 platform for off-target development and compiling for the CPU. Binary Download https://gitlab.com/voxl-public/voxl-docker  
sDSP Compiler   Current: Hexagon SDK v3.0
Planned: v3.4.2
Not Available Example
aDSP Compiler   Current: Hexagon SDK v3.1
Planned: v3.4.2
Not Available Coming Soon
JTAG   CPU: Planned
DSP: Not Available
CPU: Planned
DSP: Not Available
Camera API (USB / UVC)       Guide
Camera API (MIPI)   Installed with image API Usage Guide
Configure Wi-Fi   Installed with image Docs Source Wi-Fi Setup
Configure LTE   Binary Download Docs Source Usage Guide
On-target Docker Run Docker on target
Ubuntu 14.04 tested, OS compatible with 3.18 kernel, requires modalai-1-6-0 or higher system image
  Gitlab User Guide README
On-target Balena Run Balena app on target
Ubuntu 14.04 tested, OS compatible with 3.18 kernel, requires modalai-1-6-0 or higher system image

ModalAI Applications

ModalAI Developed Applications can be found here, often in source code. Some examples of the applications found are:

Feature Description Binary Source Code Usage Instructions VOXL Versions Supported
cellular_tools         modalai-1-3-0 and higher
i2c_display         modalai-1-3-0 and higher
ffmpeg/ffserver         modalai-1-3-0 and higher
opencv-3-4-6         modalai-1-3-0 and higher
slpi_uart         modalai-1-3-0 and higher
voxl-cam-manager A fork of snap-cam-manager evolved for the VOXL platform       modalai-1-3-0 and higher
voxl_imu         modalai-1-3-0 and higher
voxl-utils         modalai-1-3-0 and higher
voxl-python-3.6.9 Scripts to compile and package Python 3.6.9 for the VOXL platform   Gitlab    
voxl-camera-calibration A ROS environment to calibrate stereo and fisheye cameras   Gitlab    

Open Source Packages

Many new packages can be added using bitbake. We have a bitbake project that enables building new IPK packages for install on target here: Source

Qualcomm Proprietary Enablers

Content Binary Source Code Usage Instructions
Camera ISP (AAA) driver   V4L2 exposed as open source to enable new sensors  
Camera Color Tuning ISP for new Sensor Not supported Not supported Not supported
Adreno GPU   Freedreno Planned in Future  
Wi-Fi / Bluetooth Firmware      
VIO   Open-source VIO alternates planned  
Depth from Stereo   Open-source DFS alternates planned  
Snapdragon Navigator Flight Control   PX4 as alternate  

Tested SNAV / MV Combinations

SNAV Package MV Package Location Notes
1.2.59 1.1.9 SNAV, MV Well tested, recommended
1.3.0 (snav-modalai_1.3.0_8x96.ipk) 1.2.8 Developer Website Defaults to IMU1 for better performance

VOXL Release Versions

VOXL is ModalAI’s core computing platform built around the Snapdragon 821. The table below represents the system images ModalAI has released for the VOXL platform.

VOXL Release Release Notes
modalai-1-6-0 Fix for DNS issue, adds virtualization support for Docker
modalai-1-5-0 Uses open source kernel
modalai-1-3-0 Adds support for:
* external cellular modems
* PMD Time of Flight cameras over MIPI
* UVC (webcams)

Copyright (c) 2019 ModalAI Inc.