VOXL 2 Camera Configurations

Table of contents

1. Overview
2. Available Configurations
   1. SDK 1.0
      1. 1.6.2 Supported Sensor Hardware IDs
      2. 1.6.2 Supported Sensor Settings
   2. Platform Release 0.9.5
      1. Changes
      2. 1.5.5 Supported Sensor Hardware IDs
      3. 1.5.5 Supported Sensor Settings
   3. Platform Release 0.9
      1. 1.4.1 Supported Sensor Hardware IDs
      2. 1.4.1 Supported Sensor Settings
3. Quickstart Video
4. Image Sensor Configurations - SDK 1.0
   1. C-01: Front Stereo and Tracking
   2. C-02: Tracking Only
   3. C-03: Front Stereo, Hires, and Tracking
   4. C-04: Hires and Tracking
   5. C-05: ToF and Tracking
   6. C-06: ToF, Hires, and Tracking (D0005 Starling)
   7. C-08: Hires Only
   8. C-09: ToF Only
   9. C-10: Front Stereo Only (ov7251)
   10. C-11: Front Stereo, Rear Stereo, Hires, and Tracking (D0006 Sentinel)
   11. C-12: Front Stereo Only (ov9782)
   12. C-13: Front Stereo (ov9782) and Hires
   13. C-14: ToF, Hires, and Tracking
   14. C-15: Stereo flip (ov9782)
   15. C-16: ToF, Hires, and 2 Trackings
   16. C-17: ToF, Tracking, Stereo(0v9782), and Hires(imx412)
5. Image Sensor Configurations - SDK 0.9.5
   1. C3 - Front Stereo, Hires, and Tracking
   2. C4 - Tracking and Hires Only
   3. C6 - Hires + ToF + Tracking
   4. C10 - Front Stereo Only
   5. C11 - Front Stereo, Rear Stereo, Hires, and Tracking
   6. C8 - Hires Only
   7. C9 - Time of Flight (ToF) Only
   8. CX - Two Time of Flights (ToF)
6. Current Limitations

Overview

VOXL 2 has 3 camera groups (shown below), where each group has:

• QTY-2 full 4 lane MIPI CSI ports
• CCI and camera control signals
• 8 power rails (from 1.05V up to 5V) for cameras and other sensors
• Dedicated I/O bus (one of UART, SPI, i2c hard-coded depending on group)

Available Configurations

The camera configurations are purpose built via a combination of hardware and software to support more flexible options. Each configuration needs to be developed as its own effort, and then supported as a part of the system image and voxl-camera-server. The software needs to be configured using voxl-configure-cameras, and the image sensors must be connected to the port that matches the configurations documented on this page.

The configurations are not mix and match. One may have luck with different combinations, but that does not mean it will work in the future.

SDK 1.0

• SDK 1.0.0
• System Image 1.6.2

Please see a new voxl2-image-sensors page if you are on SDK 1.0+ and looking for additional setup information.

1.6.2 Supported Sensor Hardware IDs

1.6.2 Supported Sensor Settings

Platform Release 0.9.5

• SDK 0.9.5
• System Image 1.5.5

Changes

• Added IMX678 support 1920x1080@30, 3840x2160@30
• Enabled more sensor options (see table below)

1.5.5 Supported Sensor Hardware IDs

1.5.5 Supported Sensor Settings

Some sensors may list additional capabilities when probed from software. Below are what we’ve tested against, other settings may have unexpected results.

Platform Release 0.9

• SDK 0.9
• System Image 1.4.1

1.4.1 Supported Sensor Hardware IDs

1.4.1 Supported Sensor Settings

Quickstart Video

The following video demonstrates setting up the image sensors for the “C11” VOXL 2 development kit:

Image Sensor Configurations - SDK 1.0

Please see a new voxl2-image-sensors page if you are on SDK 1.0+ and looking for additional setup information.

C-01: Front Stereo and Tracking

C-02: Tracking Only

C-03: Front Stereo, Hires, and Tracking

C-04: Hires and Tracking

C-05: ToF and Tracking

C-06: ToF, Hires, and Tracking (D0005 Starling)

C-08: Hires Only

C-09: ToF Only

C-10: Front Stereo Only (ov7251)

C-11: Front Stereo, Rear Stereo, Hires, and Tracking (D0006 Sentinel)

C-12: Front Stereo Only (ov9782)

C-13: Front Stereo (ov9782) and Hires

C-14: ToF, Hires, and Tracking

C-15: Stereo flip (ov9782)

C-16: ToF, Hires, and 2 Trackings

C-17: ToF, Tracking, Stereo(0v9782), and Hires(imx412)

Image Sensor Configurations - SDK 0.9.5

C3 - Front Stereo, Hires, and Tracking

C4 - Tracking and Hires Only

C6 - Hires + ToF + Tracking

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

C10 - Front Stereo Only

C11 - Front Stereo, Rear Stereo, Hires, and Tracking

C8 - Hires Only

Available starting with Platform Release 0.9.5, sys img 1.5.3.

M0061-2 based IMX678, on M0054 J8 (no other camera location for IMX678 is supported in 1.5.3, must be J8).

Shown here, the M0076 interposer plugs into M0054 J8. The M0074 flex then connects to the M0061-2 backpack for the IMX678 module.

M0025-2 based IMX214, on M0054 J8.

SW Setup

voxl2:/$ voxl-configure-cameras 8

C9 - Time of Flight (ToF) Only

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

SW Setup

voxl2:/$ voxl-configure-cameras 9

CX - Two Time of Flights (ToF)

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

Using the M0076-1 interposers on J6 and J8 as examples:

Using the M0084-1 dual camera adapter (“y-flex”) on J8 as example:

SW Setup

NA

Current Limitations

• As a means to allow coexistence of OV7251 sensors on CCI3, we are not resetting sensors when they normally should per Qualcomm, to prevent the sensors losing a runtime address swap. This modification is in the kernel, dmesg shows MODALAI HACK where it’s happening.
• Sensor ID 1 and Sensor ID 5 share a reset line (gpio100), no specific known defects but an area to watch out.
• Sensor indicies assume all six sensors are in place and will shift when not fully populated.
• All camera AVDD rails in this configuration are left on always (2P8VDC) as they’re shared