VOXL 2 Image Sensors

Table of contents

1. Overview
   1. Supported Architecture
   2. Image Sensor Drivers Overview
      1. Driver Components
      2. Sensor Module bin Location
      3. Sensor so Location
2. VOXL SDK Usage
   1. SDK 1.0 Usage Example
3. Image Sensor Hardware IDs
   1. Overview
4. Image Sensor Drivers
   1. SDK 1.0

Overview

Supported Architecture

This documentation is valid for VOXL 2, VOXL 2 Mini staring SDK 1.0.

Image Sensor Drivers Overview

Driver Components

The primary purpose of image sensor drivers are:

• selecting the hardware location on VOXL 2 / VOXL 2 Mini
• programming the image sensor with register values to support a desired setup

The image sensor driver is broken into two components that support these requiements:

• the com.qti.sensormodule.xxxx_N.bin - where xxxx is the sensor type, and N represents the HW ID (described below)
• the com.qti.sensor.xxxx_yyyy_zzzz.so - where xxxx is the sensor type and yyyy_zzzz are a possible variants

Sensor Module bin Location

The “Sensor Module Bin” file is responsible for enabling a sensor to be probed.

All the available com.qti.sensormodule.xxxx_N.bin files are located at /usr/share/modalai/chi-cdk.

For example:

voxl2:/usr/lib/camera$ ls /usr/share/modalai/chi-cdk/
imx214  imx377  imx412  imx678  irs1645  ov7251  ov7251-combo  ov7251-combo-flip  ov9782  ov9782-combo  ov9782-combo-flip

To enable a sensor to be probed, copy its appropriate `com.qti.sensormodule.xxxx_N.bin` file into `/usr/lib/camera`.

Sensor so Location

The “Sensor so” holds the sensors register settings (roughly).

We can keep them all in /usr/lib/camera without affecting probes, so all options are shipped into this directory.

VOXL SDK Usage

SDK 1.0 Usage Example

To automatically generate a valid, default /etc/modalai/voxl-camera-server.conf file for a configuration, a helper script

For reference, see an example for C11 Sentinel

camera-server-config-helper stereo_front:ov7251:0:1 tracking:ov7251:2 hires2:imx214:3 stereo_rear:ov7251:4:5

And in in /usr/lib/camera/ we’d expect:

com.qti.sensormodule.ov7251_combo_0.bin
com.qti.sensormodule.ov7251_combo_1.bin
com.qti.sensormodule.ov7251_2.bin
com.qti.sensormodule.imx214_3.bin
com.qti.sensormodule.ov7251_combo_4.bin
com.qti.sensormodule.ov7251_combo_5.bin

Image Sensor Hardware IDs

Overview

Image sensor hardware IDs are derived from the kernel’s device tree.

There are many ways to build interfaces to the VOXL 3 camera groups.

Image Sensor Drivers

SDK 1.0

imx214 - com.qti.sensormodule.imx214_N.bin

• driver variants
  • _flip for vertical flip
• address: 0x34
• 10 bit
• 4-lanes
• no binning

imx412

imx678

irs1645

ov7251

-

ov7251-combo

ov9782

ov9782-combo