VOXL 2 Camera Configurations

Table of contents

1. Overview
2. Quickstart Video
3. How to Configure
4. Image Sensor Configurations
   1. Front Stereo, Rear Stereo, Hires, and Tracking
   2. Front Stereo, Hires, and Tracking
   3. Front Stereo Only
   4. Tracking and Hires Only
   5. Rear Stereo Only
   6. Time of Flight (ToF)
5. 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 SPI bus

Quickstart Video

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

How to Configure

VOXL 2 ships with the VOXL SDK, which has the voxl-configure-cameras command.

Image Sensor Configurations

Front Stereo, Rear Stereo, Hires, and Tracking

Front Stereo, Hires, and Tracking

Front Stereo Only

Tracking and Hires Only

Rear Stereo Only

Time of Flight (ToF)

Available starting with VOXL2 Platform Release 1.4.x-1.x.

VOXL 2 supports up to two PMD ToF sensors (using one is also fine ;)

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

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

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