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VOXL 2 Camera Configurations

Table of contents

  1. Overview
  2. Available Configurations
    1. Platform Release 0.9.5
      1. Changes
      2. 1.5.5 Supported Sensor Hardware IDs
      3. 1.5.5 Supported Sensor Settings
    2. Platform Release 0.9
      1. 1.4.1 Supported Sensor Hardware IDs
      2. 1.4.1 Supported Sensor Settings
  3. Quickstart Video
  4. How to Configure
  5. 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. 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 SPI bus

m0054-image-sensors-groups

Available Configurations

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

HW Sensor IDSensor TypeDescriptionInterposer
0OV7251 M0015StereoM0010 + M0076
0OV9782 M0113StereoM0010 + M0076
0PMD TOF M0040ToFM0040 + M0076
HW Sensor IDSensor TypeDescriptionInterposer
1OV7251 M0015StereoM0010 + M0076
1OV9782 M0113StereoM0010 + M0076
1PMD TOF M0040ToFNA
HW Sensor IDSensor TypeDescriptionInterposer
2OV7251 M0014TrackingM0076, M0084 JL
2ov9782TrackingM0076, M0084 JL
2PMD TOF M0040DepthM0076, M0084 JL
2IMX678 M0061-2HiresM0076, M0084 JL
2IMX577/412 M0061-1HiresM0076, M0084 JL
2IMX214 M0025-2HiresM0076, M0084 JL
HW Sensor IDSensor TypeDescriptionInterposer
3IMX678 M0061-2HiresM0084 JU
3IMX577/412 M0061-1HiresM0084 JU
3IMX214 M0025-2HiresM0084 JU
3PMD TOF M0040ToFM0084 JU
HW Sensor IDSensor TypeDescriptionInterposer
4OV7251 M0015StereoM0010 + M0076
4OV9782 M0113StereoM0010 + M0076
4PMD TOF M0040ToFM0040 + M0076
4IMX678 M0061-2HiresM0076, M0084 JL
4IMX577/412 M0061-1HiresM0076, M0084 JL
4IMX214 M0025-2HiresM0076, M0084 JL
HW Sensor IDSensor TypeDescriptionInterposer
5OV7251 M0015StereoM0010 + M0076
5OV9782 M0113StereoM0010 + M0076
5PMD TOF M0040ToFNA
5IMX678 M0061-2Hires (alt address 0x20)M0076, M0084 JL

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.

SensorSensor TypeResolution @ FPS
IMX678 M0061-2Hires3840x2160 @ 30
1920x1080 @ 30
IMX412/577 M0061-1Hires1920x1080 @ 30
IMX214 M0025-2Hires4096 x 2160 @ 30
3840x2160 @ 30
2048x1536 @ 30
1920 x 1080 @ 30
1280 x 720 @ 30
1024 x 768 @ 30
640 x 480 @ 30
PMD TOF M0040ToF224 x 1557 @ 5
OV7251 M0014Tracking Config640x480 @ 30
OV7251 M0015Stereo Config Left640x480 @ 30
OV7251 M0015Stereo Config Right640x480 @ 30
ov9782Tracking Config1280x800 @ 30
OV9782 M0113Stereo Config Left1280x800 @ 30
OV9782 M0113Stereo Config Right1280x800 @ 30

Platform Release 0.9

  • SDK 0.9
  • System Image 1.4.1

1.4.1 Supported Sensor Hardware IDs

HW Sensor IDSensor TypeDescription
0OV7251 M0015Stereo
0OV9782 M0113Stereo
0PMD TOF M0040ToF
HW Sensor IDSensor TypeDescription
1OV7251 M0015Stereo
1OV9782 M0113Stereo
1PMD TOF M0040ToF
HW Sensor IDSensor TypeDescription
2OV7251 M0014Tracking
2ov9782Stereo
2PMD TOF M0040ToF
HW Sensor IDSensor TypeDescription
3IMX214 M0025-2Hires
3IMX577/412 M0061-1Hires
3PMD TOF M0040ToF
HW Sensor IDSensor TypeDescription
4OV7251 M0015CV,BW,
4OV9782 M0113Stereo
4PMD TOF M0040ToF
HW Sensor IDSensor TypeDescription
5OV7251 M0015Stereo
5OV9782 M0113Stereo
5PMD TOF M0040ToF

1.4.1 Supported Sensor Settings

SensorSensor TypeResolution @ FPS
IMX214 M0025-2Hires4096 x 2160 @ 30
3840x2160 @ 30
2048x1536 @ 30
1920 x 1080 @ 30
1280 x 720 @ 30
1024 x 768 @ 30
640 x 480 @ 30
IMX412/577 M0061-1Hires Config1920x1080 @ 30
PMD TOF M0040ToF224 x 1557 @ 5
OV7251 M0014Tracking Config640x480 @ 30
OV7251 M0015Stereo Config Left640x480 @ 30
OV7251 M0015Stereo Config Right640x480 @ 30
ov9782Tracking Config1280x800 @ 30
OV9782 M0113Stereo Config Left1280x800 @ 30
OV9782 M0113Stereo Config Right1280x800 @ 30

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

Sensor IDSensor TypeNotesUsage
0OV7251 M0015Fsync in0Front stereo
1OV7251 M0015Fsync out0Front stereo
2ov7251 Tracking
3imx214, imx412 Hires
4OV7251 M0015Fsync in1Rear stereo
5OV7251 M0015Fsync out1Rear stereo

C3 - Front Stereo, Hires, and Tracking

m0054-front-stereo-hires-tracking

Sensor IDSensor TypeNotesUsage
0OV7251 M0015Fsync in0Front stereo
1OV7251 M0015Fsync out0Front stereo
2ov7251 Tracking
3imx214, imx412 Hires

C10 - Front Stereo Only

m0054-front-stereo

Sensor IDSensor TypeNotesUsage
0OV7251 M0015Fsync in0Front stereo
1OV7251 M0015Fsync out0Front stereo

C4 - Tracking and Hires Only

m0054-hires-tracking

Sensor IDSensor TypeNotesUsage
0ov7251 Tracking
1imx214, imx412 Hires

C6 - Hires + ToF + Tracking

Available starting with Platform Release 0.9, sys img 1.4.1.

HW Setup

m0054-hires-tof-tracking

Sensor IDSensor TypeNotesUsage
0PMD TOF M0040 Depth 0
1ov7251 Tracking
2imx214, imx412 Hires

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.

m0054-imx678-m0061-2

M0025-2 based IMX214, on M0054 J8.

m0054-imx214-m0025-2

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

m0054-single-tof-m0076

Sensor IDSensor TypeNotesUsage
0PMD TOF M0040 Depth 0

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:

m0054-dual-tof-m0076

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

m0054-dual-tof-m0084

Sensor IDSensor TypeNotesUsage
0PMD TOF M0040 Depth 0
1PMD TOF M0040 Depth 1

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

m0054-camera