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VOXL 2 Linux User Guide

Table of contents

  1. UARTs
    1. Overview
    2. Apps Proc
      1. /dev/ttyHS0 - Camera Group 2 UART
      2. /dev/ttyHS1 - B2B Connector UART
      3. /dev/ttyHS2 - HSB2B Connector UART
      4. /dev/ttyHS3 - HSB2B Connector UART
    3. SLPI Proc
      1. QUP2 - ESC UART
      2. QUP6 - GNSS UART
      3. QUP7 - RCIO UART
  2. SPI
    1. Overview
    2. Apps Proc
      1. SPI0 - Camera Group 0 SPI
      2. SPI3 - IMU1
      3. SPI11 - J5 B2B SPI
      4. SPI14 - J10 External SPI
    3. SLPI Proc
      1. QUP5 - IMU0
  3. I2Cs
    1. Overview
    2. Apps Proc
      1. i2c-0 - I2C2 - HS B2B I2C
      2. i2c-1 - I2C9 - B2B I2C - GPIO 125-126
      3. i2c-2 - I2C10 - B2B I2C - GPIO 129-130
      4. i2c-3 - I2C15 - USB Redriver (internal, don’t use)
      5. i2c-4 - I2C1 - Camera Group 1 I2C
    3. SLPI Proc
      1. QUP0 - External Sensor (Magnetometer)
      2. QUP2 - External Sensor (Power Monitoring)
      3. QUP3
      4. QUP4 - Internal Sensors (Barometers)
  4. GPIOs
    1. Apps Proc
      1. J3 - B2B
      2. J5 - HS B2B
      3. J6
      4. J7
      5. J8
      6. J10
      7. LEDs
      8. Regulators
  5. Serial Debug Console

UARTs

The following is accurate as of System Image 1.3.

Overview

m0054-linux-user-guide-uart

  • Note: not shown is ttyHS3 on HS B2B J5

Apps Proc

/dev/ttyHS0 - Camera Group 2 UART

  
Device/dev/ttyHS0
PinsJ8 Pins 38/40 (Tx/Rx)
Voltage1.8V, directly connected to QRB5165, likely need to level shift
Code SampleTODO
Add-OnsNA

/dev/ttyHS1 - B2B Connector UART

  
Device/dev/ttyHS1
PinsJ3 Pins 3/5 (Rx/Tx)
Voltage1.8V, directly connected to QRB5165, likely need to level shift
Code SampleTODO
Add-OnsM0125 - UART/USB3 Add-On, UART7

/dev/ttyHS2 - HSB2B Connector UART

  
Device/dev/ttyHS2
PinsJ5 HS B2B pins 48/49 (Rx/Tx)
Voltage1.8V, directly connected to QRB5165, likely need to level shift
Code SampleTODO
 M0090 - 5G Add-On Board J9 Pins 2/3 (Tx/Rx)

/dev/ttyHS3 - HSB2B Connector UART

  
Device/dev/ttyHS3
PinsJ5 HS B2B pins 97/98 (Rx/Tx)
Voltage1.8V, directly connected to QRB5165, likely need to level shift
Code SampleTODO
 M0130 - LTE v2 Pro - J8 Pins 10/11 (Tx/Rx) - Level Shifted to 3.3V

SLPI Proc

QUP2 - ESC UART

  
DeviceQUP2
PinsJ18 Pins 2/3 (Tx/Rx)
Voltage3.3V, via directional level shifters
Code SamplePX4 ESC Driver
Add-OnsVOXL ESC

QUP6 - GNSS UART

  
DeviceQUP6
PinsJ19 Pins 2/3 (Tx/Rx)
Voltage3.3V, via directional level shifters
Code SamplePX4 GPS
Add-OnsVOXL 2 GPS Mag Assembly

QUP7 - RCIO UART

  
DeviceQUP7
PinsJ19 Pins 10/11 (Tx/Rx)
Voltage3.3V, via directional level shifters
Code SamplePX4 px4io Driver
 PX4 RC Driver
Add-OnsVOXL 2 IO
 VOXL 2 GPS Mag Assembly

SPI

The following is accurate as of System Image 1.3.

Overview

m0054-linux-user-guide-spi

  • Note: not shown is spidev11 on HS B2B J5
/dev/spidev0.0  --> camera group 0 (J6)
/dev/spidev3.0  --> internal IMU (TDK ICM-42688p)
/dev/spidev11.0 --> HS B2B connector (J5)
/dev/spidev14.0 --> external SPI (J10)

Apps Proc

SPI0 - Camera Group 0 SPI

  
Device/dev/spidev0.0
Code SampleVOXL SDK IMU Server
Voltage1.8V, directly connected to QRB5165, likely need to level shift
PinsJ6 - 34 MISO
 J6 - 36 MOSI
 J6 - 38 SCLK
 J6 - 40 CS_N

SPI3 - IMU1

  
Device/dev/spidev3.0, exposed in MPA as /run/mpa/imu_apps
Code SampleVOXL SDK IMU Server
VoltageInternal
PinsU17 - 1 MISO
 U17 - 14 MOSI
 U17 - 13 SCLK
 U17 - 12 CS_N

SPI11 - J5 B2B SPI

Available in system image 1.5+

  
Device/dev/spidev11.0
Code SampleVOXL SDK IMU Server
Voltage3.3VDC
PinsJ5 - 53 MISO
 J5 - 54 MOSI
 J5 - 55 SCLK
 J5 - 56 CS_N

Available from M0130 addon - J8 pin 2-5

SPI14 - J10 External SPI

  
Device/dev/spidev14.0
Code SampleVOXL SDK IMU Server
Voltage3.3VDC
PinsJ10 - 2 MISO
 J10 - 3 MOSI
 J10 - 4 SCLK
 J10 - 5 CS_N

Available from J10 pins 2-5

SLPI Proc

QUP5 - IMU0

  
Deviceexposed via MAP at /run/mpa/imu_px4
Code SampleVOXL SDK IMU Server
VoltageInternal
PinsU16 - 1 MISO
 U16 - 14 MOSI
 U16 - 13 SCLK
 U16 - 12 CS_N

I2Cs

The following is accurate as of System Image 1.3.

Overview

m0054-linux-user-guide-i2c

Apps Proc

i2c-0 - I2C2 - HS B2B I2C

/dev/i2c-0 is exposed on the HS B2B connector (J5) pins 8/9.

  
Device/dev/i2c-0 (new as of system image 1.5)
Code Sample 
Voltage3.3VDC
PinsJ5 Pin 8/9 (SDA/SCL) (GPIO 115/116)
Add-OnsM0130 J8 Pins 8/9 (SDA/SCL)

i2c-1 - I2C9 - B2B I2C - GPIO 125-126

/dev/i2c-1

  
Device/dev/i2c-1 (as of system image 1.5, was i2c-0 before)
Code Sample 
Voltage3.3VDC
PinsJ3 Pin 13/15 (SCL/SDA) (GPIO 126/125)

i2c-2 - I2C10 - B2B I2C - GPIO 129-130

/dev/i2c-2 is exposed on the Legacy B2B connector’s pins 23 and 25, and available on add-on boards via a JST connector.

  
Device/dev/i2c-2 (as of system image 1.5, was i2c-1 before)
Code Sample 
Voltage3.3VDC
ConnectorM0054 J3 Pins 23/25 (SCL/SDA) (GPIO 130/129)
Add-OnsM0062 J9 Pins 4/5 (SDA/SCL)
 M0090 J9 Pins 4/5 (SDA/SCL)

i2c-3 - I2C15 - USB Redriver (internal, don’t use)

Status: dmesg shows some errors, need to investigate

  
Device/dev/i2c-3 (as of system image 1.5, was i2c-2 before)
HardwarePN NB7VPQ904MMUTWG datasheet
 Address: 0x1C

i2c-4 - I2C1 - Camera Group 1 I2C

/dev/i2c-4 is exposed on the J7 camera group connector

  
Device/dev/i2c-4
Code Sample 
Voltage1.8VDC
ConnectorM0054 J7 Pins 34/36 (SCL/SDA) (GPIO 4/5)

SLPI Proc

QUP0 - External Sensor (Magnetometer)

Typically used for magnetometer I2C connection.

  
IDQUP0
Code Sample 
Voltage3.3VDC
PinsJ19 Pins 4/5 (SCL/SDA)
Add-OnsVOXL 2 GPS Mag Assembly

QUP2 - External Sensor (Power Monitoring)

Typically used for battery power monitoring I2C connection.

  
IDQUP2
Code Sample 
Voltage5.0VDC
PinsJ4 Pins 3/4 (SCL/SDA)
Add-OnsVOXL PMv3

QUP3

Future use.

  
IDQUP3
Code Sample 
Voltage3.3VDC
PinsJ19 Pins 7/8 (SCL/SDA)
Add-OnsNA

QUP4 - Internal Sensors (Barometers)

Connected to onboard barometers.

  
IDQUP4
Code Sample 
HardwareTDK-ICP10100 @ 0x63h
 bmp388 @ 0x76h

GPIOs

The following is accurate as of System Image 1.3.

Apps Proc

Work in progress to expose more GPIOS:

VOXL SDK - voxl-bind source code example.

J3 - B2B

See changelog for version info.

GPIODirectionDescription
52InJ3 Pin 7, pulldown - exposed by M0090, M0062 - J8 pin 2 at 3P3V
53OutJ3 Pin 9, default high, 1P8V - exposed by M0090, M0062 - J8 pin 3 at 3P3V (for M0048 pDDL_EN_N)
54OutJ3 Pin 19, default low, 1P8V - exposed by M0090, M0062 - J8 pin 4 at 3P3V
55OutJ3 Pin 17, default low, 1P8V - exposed by M0090, M0062 - J8 pin 5 at 3P3V
131OutJ3 Pin 38 - default low, 1P8V
124OutJ3 Pin 40 - default high,1P8V

J5 - HS B2B

See changelog for version info.

GPIODirectionDescription
0In/OutJ5 Pin 46, default high, 1P8V
1In/OutJ5 Pin 47, default high, 1P8V
56In/OutJ5 Pin 50, default high, 1P8V
57In/OutJ5 Pin 51, default high, 1P8V
89In/OutJ5 Pin 79, default high, 1P8V - for M0130, controls whether interface on J8 is SPI (default) or UART (DT change needed to convert)
152In/OutJ5 Pin 44, default high, 1P8V
153In/OutJ5 Pin 43, default low, 1P8V
154In/OutJ5 Pin 42, default low, 1P8V
155In/OutJ5 Pin 41, default low, 1P8V

J6

Note: As of system image 1.5:

GPIODirectionDescription
113In/OutJ6 - 16, exposed though interposer M0076 TP2
110In/OutJ6 - 18, exposed though interposer M0076 TP3

J7

Note: As of system image 1.5:

GPIODirectionDescription
6In/OutJ7 - 38, exposed though interposer M0076 TP7
7In/OutJ7 - 40, exposed though interposer M0076 TP8

J8

Note: As of system image 1.5:

GPIODirectionDescription
12In/OutJ8 - 34, exposed though interposer M0076 TP5
13In/OutJ8 - 36, exposed though interposer M0076 TP6

J10

GPIODirectionDescription
46OutJ10 Pin 6 (SPI4 CS1, used for Spektrum bind)

LEDs

GPIODirectionDescription
82OutDS2 LED, Red
83OutDS2 LED, Green
84OutDS2 LED, Blue

Regulators

GPIODirectionDescription
157OutControls U41, the 5V/2A switchable power supply for USB
159OutControls U24, the 3.3VDC supply for RC / VOXL2 IO, J19 pin 9

Serial Debug Console

This is enabled in DEBUG builds of the system image and not enabled by default.

You can access via:

  • M0017 APQ Console.

m0054-debug-console-m0017

  • M0062 J6.

m0054-debug-console

Running the following after power on, for example:

screen /dev/tty.usbserial-AU03BMG9 115200

Watch the booting progress:

[  OK  ] Stopped Modem Init Service.
[  OK  ] Started Modem Init Service.
[  OK  ] Stopped Modem Init Service.
[FAILED] Failed to start Modem Init Service.
See 'systemctl status init_sys_mss.service' for details.
[  OK  ] Started depends update.

Ubuntu 18.04.5 LTS qrb5165-rb5 ttyMSM0

qrb5165-rb5 login:

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