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VOXL 2 Camera Configurations

Table of contents

  1. Overview
  2. Quickstart Video
  3. How to Configure
  4. Image Sensor Configurations
    1. C11 - Front Stereo, Rear Stereo, Hires, and Tracking
    2. C3 - Front Stereo, Hires, and Tracking
    3. C10 - Front Stereo Only
    4. C4 - Tracking and Hires Only
    5. C6 - Hires + ToF + Tracking
    6. C9 - Time of Flight (ToF) Only
    7. CX - Two Time of Flights (ToF)
    8. C9 - Time of Flight (ToF) 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

C11 - 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

C3 - 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

C10 - Front Stereo Only

m0054-front-stereo

Camera IDSensor TypeNotesUsage
0ov7251lFsync in0Front stereo
1ov7251rFsync out0Front stereo

C4 - Tracking and Hires Only

m0054-hires-tracking

Camera IDSensor TypeNotesUsage
0ov7251 Tracking
1imx214 or imx412 Hires

C6 - Hires + ToF + Tracking

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

HW Setup

m0054-hires-tof-tracking

Camera IDSensor TypeNotesUsage
0irs1645 Depth 0
1ov7251 Tracking
2imx214 Hires

SW Setup

voxl2:/$ voxl-configure-cameras 6

C9 - Time of Flight (ToF) Only

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

HW Setup

m0054-single-tof-m0076

Camera IDSensor TypeNotesUsage
0irs1645 Depth 0

SW Setup

voxl2:/$ voxl-configure-cameras 9

CX - Two Time of Flights (ToF)

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

HW Setup

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

m0054-dual-tof-m0076

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

m0054-dual-tof-m0084

Camera IDSensor TypeNotesUsage
0irs1645 Depth 0
1irs1645 Depth 1

SW Setup

COMING SOON

C9 - Time of Flight (ToF) Only

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

m0054-camera