VOXL 2 Camera Configurations
Table of contents
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
C11 - Front Stereo, Rear Stereo, Hires, and Tracking
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | ov7251l | Fsync in0 | Front stereo |
1 | ov7251r | Fsync out0 | Front stereo |
2 | ov7251 | Tracking | |
3 | imx214 or imx412 | Hires | |
4 | ov7251l | Fsync in1 | Rear stereo |
5 | ov7251r | Fsync out1 | Rear stereo |
C3 - Front Stereo, Hires, and Tracking
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | ov7251l | Fsync in0 | Front stereo |
1 | ov7251r | Fsync out0 | Front stereo |
2 | ov7251 | Tracking | |
3 | imx214 or imx412 | Hires |
C10 - Front Stereo Only
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | ov7251l | Fsync in0 | Front stereo |
1 | ov7251r | Fsync out0 | Front stereo |
C4 - Tracking and Hires Only
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | ov7251 | Tracking | |
1 | imx214 or imx412 | Hires |
C6 - Hires + ToF + Tracking
Available starting with VOXL2 Platform Release 1.4.x-1.x.
HW Setup
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | irs1645 | Depth 0 | |
1 | ov7251 | Tracking | |
2 | imx214 | 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
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | irs1645 | 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:
Using the M0084-1 dual camera adapter (“y-flex”) on J8
as example:
Camera ID | Sensor Type | Notes | Usage |
---|---|---|---|
0 | irs1645 | Depth 0 | |
1 | irs1645 | 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 showsMODALAI 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