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ModalAI Technical Docs

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
  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

m0054-image-sensors-groups

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

m0054-dual-stereo-hires-tracking

Camera IDSensor TypeNotesUsage
0ov7251lFsync in0Front stereo
1ov7251rFsync out0Front stereo
2ov7251 Tracking
3imx214 or imx412 Hires
4ov7251lFsync in1Rear stereo
5ov7251rFsync out1Rear stereo

Front Stereo, Hires, and Tracking

m0054-front-stereo-hires-tracking

Camera IDSensor TypeNotesUsage
0ov7251lFsync in0Front stereo
1ov7251rFsync out0Front stereo
2ov7251 Tracking
3imx214 or imx412 Hires

Front Stereo Only

m0054-front-stereo

Camera IDSensor TypeNotesUsage
0ov7251lFsync in0Front stereo
1ov7251rFsync out0Front stereo

Tracking and Hires Only

m0054-hires-tracking

Camera IDSensor TypeNotesUsage
0ov7251 Tracking
1imx214 or imx412 Hires

Rear Stereo Only

m0054-rear-stereo

Camera IDSensor TypeNotesUsage
0ov7251lFsync in1Rear stereo
1ov7251rFsync out1Rear stereo

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.
  • IMX214 resolution settings only support full pixel mode.
  • All camera AVDD rails in this configuration are left on always (2P8VDC) as they’re shared

m0054-camera