VOXL 2 Linux User Guide
Table of contents
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
.
- M0062 J6.
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:
GPIOs
VOXL 2 Add-On GPIO Port
QTY3 outputs and QTY1 input are available via VOXL 2 add-on cards, typically at J8, a 6 pin JST GH.
Supported Hardware:
- M0062 - J8
- M0090 - J8
Status: functional
865 Pins:
- GPIO 52
- GPIO 53
- GPIO 54
- GPIO 55
Pin # | Configuration | Notes |
---|---|---|
M00XX-J8-P2 | Input (gpio52, 3P3V, 2mA, pulldown) | |
M00XX-J8-P3 | Output (gpio53, 3P3V, 2mA, default high | (M0048 pDDL EN_N)) |
M00XX-J8-P4 | Output (gpio54, 3P3V, 2mA, default low) | |
M00XX-J8-P5 | Output (gpio55, 3P3V, 2mA, default low) |
Note: SN74LVC2T45YZPR
used
I2Cs
I2C10 - Legacy B2B I2C
Status: functional, used for Chirp sensors on rb5 flight VOXL2 865 Pins:
- GPIO 129 - SDA
- GPIO 130 - SCL
Hardware, B2B Connector:
- J3 Pin 23 SCL
- J3 Pin 25 SDA
M0062 Debug Add-on:
- J9 - Pin 4 - SDA
- J9 - Pin 5 - SCL
M0090 5G Add-on:
- J9 - Pin 4 - SDA
- J9 - Pin 5 - SCL
QUPv3:
qupv3_se10_i2c
/dev/i2c-1
/sys/devices/platform/soc/a88000.i2c/i2c-1
I2C15 - USB Redriver
Status: dmesg shows some errors, need to investigate
Hardware:
- PN
NB7VPQ904MMUTWG
datasheet - Address: 0x1C
Pins:
- GPIO 44 - SDA
- GPIO 45 - SCL
QUPv3:
qupv3_se15_i2c
/dev/i2c-2
/sys/devices/platform/soc/884000.i2c/i2c-2
I2C9 - Legacy B2B I2C
Status: not tested, not routed to somewhere easy
865 Pins:
- GPIO 125
- GPIO 126
Hardware, B2B Connector:
- J3 Pin 13 SCL
- J3 Pin 15 SDA
No add-on boards pick this up yet.
QUPv3:
qupv3_se9_i2c
/dev/i2c-0
/sys/devices/platform/soc/a84000.i2c/i2c-0
UARTs
/dev/ttyHS0 - Add-On Board 2W UART
Status: hardware loop back tested OK. Need to try various bauds.
/dev/ttyHS0
/sys/kernel/debug/894000.qcom,qup_uart
/sys/devices/platform/soc/894000.qcom,qup_uart
/sys/bus/platform/devices/894000.qcom,qup_uart
/sys/bus/platform/drivers/msm_geni_serial/894000.qcom,qup_uart
Owner:
- apps_proc
- GPIO2 - TX - QUP19
- GPIO3 - RX - QUP19
Hardware:
- M0090-J9 - 5G Add-On Board
- Pin 2 - TX
- Pin 3 - RX
/dev/ttyMSM0 - Serial Debug Console
Status: OK, debug builds only
Owner:
- apps_proc
Info:
- 115200 baud
/dev/ttyMSM0
/sys/class/tty/ttyMSM0
/sys/devices/platform/soc/a90000.qcom,qup_uart/tty/ttyMSM0
ESC UART
Status: OK
Owner:
- slpi_proc
Info:
- 250000 baud
SSC_QUP2
0x02688000
RC UART
Status: OK
Owner:
- slpi_proc
Info:
- ? baud
SSC_QUP6
0x02698000
GNSS UART
Status: OK
Owner:
- slpi_proc
Info:
- ? baud
SSC_QUP7
0x0269C000
SPI
Overview
/dev/spidev0.0 --> camera group 0 (J6)
/dev/spidev1.0 --> camera group 1 (J7)
/dev/spidev3.0 --> internal IMU (TDK ICM-42688p)
/dev/spidev5.0 --> camera group 2 (J8)
/dev/spidev14.0 --> external SPI (J10)
SPI0 - Camera Group 0 SPI
Note: available in System Image 1.1.5+
Device:
/dev/spidev0.0
Connector:
- GPIO 28 <- SPI0 MISO 3P3V <- M0054 J6 Pin 34
- GPIO 29 -> SPI0 MOSI 3P3V -> M0054 J6 Pin 36
- GPIO 31 -> SPI0 SCLK 3P3V -> M0054 J6 Pin 38
- GPIO 30 -> SPI0 CS_N 3P3V -> M0054 J6 Pin 40
DT:
qupv3_se0_spi: spi@980000
SPI1 - Camera Group 1 SPI
Note: available in System Image 1.1.5+
Device:
/dev/spidev1.0
Connector:
- GPIO 4 <- SPI1 MISO 3P3V <- M0054 J7 Pin 34
- GPIO 5 -> SPI1 MOSI 3P3V -> M0054 J7 Pin 36
- GPIO 7 -> SPI1 SCLK 3P3V -> M0054 J7 Pin 38
- GPIO 6 -> SPI1 CS_N 3P3V -> M0054 J7 Pin 40
DT:
qupv3_se1_spi: spi@984000
SPI3 - IMU1
Note: available in System Image 1.1.5+
Device:
/dev/spidev3.0
Hardware:
- PN
ICM42688-P
Internally Routed to U17:
- GPIO 119 <- SPI3 MISO 3V3P <- U17 pin 1
- GPIO 120 -> SPI3 MOSI 3V3P -> U17 pin 14
- GPIO 121 -> SPI3 SCLK 3V3P -> U17 pin 13
- GPIO 122 -> SPI3 CS_N 3V3P -> U17 pin 12
DT:
qupv3_se3_spi: spi@98c000
SPI5 - Camera Group 2 SPI
Note: available in System Image 1.1.5+
Device:
/dev/spidev5.0
Connector:
- GPIO 12 <- SPI5 MISO 3P3V <- M0054 J8 Pin 34
- GPIO 13 -> SPI5 MOSI 3P3V -> M0054 J8 Pin 36
- GPIO 15 -> SPI5 SCLK 3P3V -> M0054 J8 Pin 38
- GPIO 14 -> SPI5 CS_N 3P3V -> M0054 J8 Pin 40
DT:
qupv3_se5_spi: spi@994000
SPI14 - J10 External SPI
Note: available in System Image 1.1.5+
Device:
/dev/spidev14.0
Connector:
- GPIO 40 <- SPI14 MISO 3P3V <- M0054 J10 Pin 2
- GPIO 41 -> SPI14 MOSI 3P3V -> M0054 J10 Pin 3
- GPIO 42 -> SPI14 SCLK 3P3V -> M0054 J10 Pin 4
- GPIO 43 -> SPI14 CS_N 3P3V -> M0054 J10 Pin 5
DT:
qupv3_se14_spi: spi@880000
SPI17 - B2B External SPI - M0090 - J8
STATUS: NOT YET VALIDATED
Hardware, B2B Connector:
- J3 Pin 7 MISO
- J3 Pin 9 MOSI
- J3 Pin 19 CS
- J3 Pin 17 CLK
M0090 5G Add-on:
- J8 - Pin 1 - 3P3V
- J8 - Pin 2 - MISO 3P3V
- J8 - Pin 3 - MOSI 3P3V
- J8 - Pin 4 - CLK 3P3V
- J8 - Pin 5 - CS0 3P3V
- J8 - Pin 6 - GND
QUPv3:
qupv3_se17_spi
/sys/class/spi_master/spi17
/sys/devices/platform/soc/88c000.spi/spi_master/spi17