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VOXL 2 Mini Connectors

m0104-datasheets-all

Table of contents

  1. Summary
  2. Pinouts
    1. J1 - Power Connector / I2C Battery Monitoring
    2. J2 - 5VDC Fan Control
    3. J3 USB 3 10-pin
    4. J4 - Serial Debug Port
    5. Camera Group J6, J7
      1. General Pin-out
      2. J6 - Camera Group 0 Specific Pinout
        1. J6 Pin-out
      3. J7 - Camera Group 1 Specific Pinout
        1. J7 Pin-out
    6. J10 - External UART
      1. J10 Pin-out, UART Mode, Default (GPIO_67 = LOW)
      2. J10 Pin-out, SPI Mode (GPIO_67 = High), Kernel Rebuild Required to Use
    7. J19 - External Sensors (2x UART/ 2x I2C)
      1. J19 Pin-out
      2. SW Summary
    8. Power Input/Output Important Note:

Summary

Below describes the VOXL 2 Mini connectors.

m0104-datasheets-connectors

All single ended signals on B2B connectors J6 and J7 are 1.8V CMOS unless explicitly noted. All single ended signals on cable-to-board connectors J10, J19 are 3.3V CMOS unless explicitly noted.

ConnectorDescriptionMPN (Board Side)Mating MPN (Board/Cable Side)TypeSignal Feature Summary
J1Prime Power In, 3.8VMolex 2059-72-00412059792041Cable Connector, 4-pin R/A+3.8V main DC power in + GND, I2C@3.8V for power monitors
J2FanSM02B-SRSS-TB(LF)(SN)SHR-02V-SCable Header, 2-pin R/A5V DC output for FAN + PWM Controlled FAN-Return (GND)
J3USB3BM10B-GHS-TB(LF)(SN)GHR-10V-SCable Header, 10-pin vertical 
J4Debug consoleBM04B-SRSS-TB(LF)(SN)SHR-04V-SCable Header, 4-pin verticalLinux debug console enabled in debug kernel builds only
J6Camera Group 0DF40C-60DP-0.4V(51)DF40C-60DS-0.4VB2B Plug, 60-pinQty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated SPI, GPIO
J7Camera Group 1DF40C-60DP-0.4V(51)DF40C-60DS-0.4VB2B Plug, 60-pinQty-2 4L MIPI CSI ports, CCI and camera control signals, 8 power rails (from 1.05V up to 5V) for cameras and other sensors, dedicated I2c, GPIO
J9USB-C (ADB)12401610E4#2AUSB Type-CCable Receptacle, 24-pin R/AADB USB-C with OTG/Host mode support (no Display Port) (USB0)
J10UART/SPI ExpansionSM08B-GHS-TB(LF)(SN)GHR-08V-SCable Header, 8-pin R/AUART (or SPI with 2 CS_N pins), 32kHz CLK_OUT (resistor option), all 3.3V CMOS signal levels. NOTE: SPI option requires building your own kernel
J19ESC/GNSS/MAG/RCSM12B-GHS-TB(LF)(SN)GHR-12V-SCable Header, 12-pin R/ARC UART@3.3V, ESC UART@3.3V, GNSS UART@3.3V, Magnetometer I2C@3.3V, 5V, 3P3V_RC (SW controllable)

Pinouts

J1 - Power Connector / I2C Battery Monitoring

Note: for use with ModalAI Power Module V3 in the “-4” config set to 3.8V.

Pin#SignalNotes/Usage
1VBAT_IN_3P8VDC from Power Module, 3.8V nominal/fixed or 1S ranges (3.3V to 4.25V)
2GNDPower Module Return
3I2C_CLK_3P8VSSC_QUP_1, 3.8V signal levels, Pullups on Power Module
4I2C_SDA_3P8VSSC_QUP_1, 3.8V signal levels, Pullups on Power Module

J2 - 5VDC Fan Control

Pin #Signal NameNotes
1VDC_5V_LOCAL5V power output **
2FAN RETURN (GND)Return limited to ~400mA

J3 USB 3 10-pin

This format is identical to M0090, M0130

Pin#SignalNotes/Usage
15VDC5V VBUS power output, 900mA total when VBAT_IN = 3.8V **
2USB1_HS_HUB3_CON_D_NEMI/ESD filters on-board
3USB1_HS_HUB3_CON_D_PEMI/ESD filters on-board
4GND 
5USB1_HUB3_SS_RX_NEMI/ESD filters on-board
6USB1_HUB3_SS_RX_PEMI/ESD filters on-board
7GND 
8USB1_HUB3_SS_TX_NEMI/ESD filters on-board
9USB1_HUB3_SS_TX_PEMI/ESD filters on-board
10GND 

Note: There is a known HW issue on the USB3 Super-speed TX lines where the AC caps are not included. Please include AC caps on any mating HW, both RX and TX, or your link may be limited to USB2 speeds. We plan to fix this on a future spin of Voxl2 Mini. Our MCBL-00022 host port adapter can be manually modified to insert serial caps on the TX lines using radial components as a work-around if using a COTS USB3 device. Here are some instructions and guidance on how to perform this modification on your own.
There has been a report of an Ethernet device which enumerates as USB3, but gets USB Fast Speeds (~8-12Mbps). If this happens to you, simply remove the USB3 wires from MCBL-00022-2 check here for help and the pinout of MCBL-00022-2 here, or use another USB cable we offer without USB3 lines, such as MCBL-00080 click here and that should at least bring back USB HighSpeed (480Mbps) rates. Note2: VOXL 2 Mini FIx is in the works!! Stay Tuned for this AC cap issue update and some other exciting upgrades.

J4 - Serial Debug Port

This format is identical to other ModalAI debug ports

Pin#SignalNotes/Usage
1VREG_3P3V_LOCAL3.3V Power Output *
2DEBUG_UART_RX_3P3VQUP_12 UART Receive (input), 3.3V signal levels
3DEBUG_UART_TX_3P3VQUP_12 UART Transmit (output), 3.3V signal levels
4GND 

Camera Group J6, J7

General Pin-out

Generic camera group pinout, please work with ModalAI for any mating designs to guarantee proper operation

Pin#Signal
1GND
2GND
3Lower CCI_I2C_SDA
4DVDD 1.2V
5Lower CCI_I2C_SCL
6DOVDD 1.8V
7GND
8DVDD 1.05V
9Lower CSI_CLK_P
10Lower RST_N
11Lower CSI_CLK_M
12Lower MCLK
13Lower CSI_DAT0_P
14GND
15Lower CSI_DAT0_M
16Lower CCI Timer
17GND
18Upper CCI Timer
19Lower CSI_DATA1_P
20Upper MCLK
21Lower CSI_DATA1_M
22AVDD 2.8V
23Lower CSI_DATA2_P
24GND
25Lower CSI_DATA2_M
26Upper RST_N (Unique on M0104, Shared on M0204)
27GND
28Upper CCI_I2C_SDA
29Lower CSI_DATA3_P
30Upper CCI_I2C_SCL
31Lower CSI_DATA3_M
32Spare MCLK/GPIO
33GND
34Group SPI MISO (groups 0/1)
35Upper CSI_CLK_P
36Group SPI MOSI (groups 0/1)
37Upper CSI_CLK_M
38Group SPI SCLK (groups 0/1)
39Upper CSI_DATA0_P
40Group SPI CS_N (groups 0/1)
41Upper CSI_DATA0_M
42VREG_S4A_1P8
43GND
44GND
45Upper CSI_DATA1_P
46VPH_PWR 3.8V
47Upper CSI_DATA1_M
48VPH_PWR 3.8V
49Upper CSI_DATA2_P
50GND
51Upper CSI_DATA2_M
523.3V
53GND
54GND
55Upper CSI_DATA3_P
565V
57Upper CSI_DATA3_M
585V
59GND
60GND

J6 - Camera Group 0 Specific Pinout

VOXL 2 Mini supports Camera Group 0 and 1 from the VOXL 2 Camera Configs.

Connector: DF40C-60DP-0.4V(51)

Device Tree:

  • qcom,cam-sensor0
  • qcom,cam-sensor1
J6 Pin-out
Pin #Signal NameUsage / Notes
1GND 
2GND 
3CCI_I2C0_SDACAM0_CCI0_SDA, gpio101
4VREG_PM8009_L2_1P2DVDD 1.2V
5CCI_I2C0_SCLCAM0_CCI0_SCL, gpio102
6VREG_PM8009_L7_1P8CAM0_VIO_1P8, CAM0_VIO_1P8
7GND 
8VREG_PM8009_L1_1P05CAM0_VDD_1P05, NOTE: current this is ~1.13VDC
9CSI0_CLK_CON_P 
10GPIO_93_CAM0_RST_NCAM0_RST_N, gpio93
11CSI0_CLK_CON_N 
12GPIO_94_CAM_MCLK0_CONCAM_MCLK0_CON, gpio94
13CSI0_LANE0_CON_PLEFT
14GND 
15CSI0_LANE0_CON_NLEFT
16GPIO_110_CCI_TIMER1(unused in version 0)
17GND 
18GPIO_113_CCI_TIMER4CAM_FSYNC_1_OUT, CAM_FSYNC0_IN
19CSI0_LANE1_CON_PRIGHT
20CAM_MCLK1_CONCAM_MCLK1_CON, gpio95
21CSI0_LANE1_CON_NRIGHT
22VREG_PM8009_L5_2P8CAM0_AVDD_2P8, CAM1_AVDD_2P8
23CSI0_LANE2_CON_P 
24GND 
25CSI0_LANE2_CON_N 
26GPIO_109_CAM3_RST_N(shared, CAM3_RST_N)
27GND 
28CCI_I2C1_SDACAM1_CCI1_SDA, CAM4_CCI1_SDA
29CSI0_LANE3_CON_P 
30CCI_I2C1_SCLCAM1_CCI1_SCL, CAM4_CCI1_SCL
Pin #Signal NameNotes
31CSI0_LANE3_CON_N 
32MCLK6_G0_CON(shared) CAM1_RST_N, gpio100,
33GND 
34GPIO_28_CAM0_SPI0_MISO/dev/spidev0.0
35CSI1_CLK_CON_P 
36GPIO_29_CAM0_SPI0_MOSI/dev/spidev0.0
37CSI1_CLK_CON_N 
38GPIO_30_CAM0_SPI0_CLK/dev/spidev0.0
39CSI1_LANE0_CON_P 
40GPIO_31_CAM0_SPI0_CS/dev/spidev0.0
41CSI1_LANE0_CON_N 
42VREG_S4A_1P8 
43GND 
44GND 
45CSI1_LANE1_CON_P 
46VPH_PWR 
47CSI1_LANE1_CON_N 
48VPH_PWR 
49CSI1_LANE2_CON_P 
50GND 
51CSI1_LANE2_CON_N 
52VREG_3P3V_LOCAL 
53GND 
54GND 
55CSI1_LANE3_CON_P 
56VDC_5V_LOCAL 
57CSI1_LANE3_CON_N 
58VDC_5V_LOCAL 
59GND 
60GND 

J7 - Camera Group 1 Specific Pinout

VOXL 2 Mini supports Camera Group 0 and 1 from the VOXL 2 Camera Configs.

Connector: DF40C-60DP-0.4V(51)

Device Tree:

  • qcom,cam-sensor2
  • qcom,cam-sensor3
J7 Pin-out
Pin #Signal NameUsage / Notes
1GND 
2GND 
3CCI_I2C2_SDACAM2_CCI1_SDA, gpio105
4VREG_PM8009_L2_1P2(M0084, R1 not stuffed, not routed)
5CCI_I2C2_SCLCAM2_CCI1_SCL, gpio106
6VREG_PM8009_L7_1P8CAM2_DOVDD_1P8, CAM3_DOVDD_1P8
7GND 
8VREG_PM8009_L1_1P05(M0084, R2 stuffed) CAM2_VDD_1P05,CAM3_VDD_1P05 (NOTE: current this is ~1.13VDC)
9CSI2_CLK_CON_P 
10GPIO_92_CAM1_RST_NRST_LOWER_N, gpio92
11CSI2_CLK_CON_N 
12GPIO_96_CAM_MCLK2MCLK_LOW, gpio96
13CSI2_LANE0_CON_P 
14GND 
15CSI2_LANE0_CON_N 
16GPIO_111_CCI_TIMER2CCI_TIMER_LOWER
17GND 
18GPIO_114_CCI_ASYNC_INCCI_TIMER_UPPER
19CSI2_LANE1_CON_P 
20GPIO97_CAM_MCLK3_CONMCLK_UPPER, gpio97
21CSI2_LANE1_CON_N 
22VREG_PM8009_L6_2P8AVDD_2P8, CAM2_DOVDD_2P8, CAM3_DOVDD_2P8
23CSI2_LANE2_CON_P 
24GND 
25CSI2_LANE2_CON_N 
26GPIO_78_CAM2_RST_N (M0104), GPIO_109_CAM3_RST_N (M0204)RST_UPPER, Unique on M0104, SHARED on M0204 for Global Sync
27GND 
28CCI_I2C3_SDACAM3_CCI3_SDA, CAM5_CCI3_SDA, gpio107
29CSI2_LANE3_CON_P 
30CCI_I2C3_SCLCAM3_CCI3_SCL, CAM5_CCI3_SCL, gpio108
Pin #Signal NameNotes
31CSI2_LANE3_CON_N 
32MCLK6_G1_CON(shared) GPIO_MCLK6_SHARED, gpio100
33GND 
34GPIO_4_CAM1_SPI1_MISOGPIO_4, /dev/i2c-4
35CSI3_CLK_CON_P 
36GPIO_5_CAM1_SPI1_MOSIGPIO_5, /dev/i2c4
37CSI3_CLK_CON_N 
38GPIO_6_CAM1_SPI1_CLKGPIO_6,
39CSI3_LANE0_CON_P 
40GPIO_7_CAM1_SPI1_CSGPIO_7,
41CSI3_LANE0_CON_N 
42VREG_S4A_1P8 
43GND 
44GND 
45CSI3_LANE1_CON_P 
46VPH_PWR 
47CSI3_LANE1_CON_N 
48VPH_PWR 
49CSI3_LANE2_CON_P 
50GND 
51CSI3_LANE2_CON_N 
52VREG_3P3V_LOCAL 
53GND 
54GND 
55CSI3_LANE3_CON_P 
56VDC_5V_LOCAL 
57CSI3_LANE3_CON_N 
58VDC_5V_LOCAL 
59GND 
60GND 

J10 - External UART

J10 Pin-out, UART Mode, Default (GPIO_67 = LOW)

SDK 1.1.2 required. Available from apps proc as /dev/ttyHS0.

For loopback test, you can connect pins 4/5 on J10 and use the following to verify:

voxl2-mini:/$ qrb5165io-uart-test -d /dev/ttyHS0
[INFO]: success!
Pin#SignalNotes/Usage
1VREG_3P3V_LOCAL3.3V Power Output *
2GPI_40 (Input)3.3V signal levels
3GPO_41 (Output)3.3V signal levels
4UART_TX (Output)APPS_QUP_14, 3.3V signal levels
5UART_RX (Input)APPS_QUP_14, 3.3V signal levels
6GPI_46 (Input)3.3V signal levels
7GPI_64_INT_N (Input)Interrupt Input, 3.3V signal levels
8GNDGND

J10 Pin-out, SPI Mode (GPIO_67 = High), Kernel Rebuild Required to Use

NOTE: to use SPI, you need to rebuild the kernel, see: https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/m0104/m0104-modalai-qupv3.dtsi?ref_type=heads#L93 https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/m0104/m0104-modalai-qupv3.dtsi?ref_type=heads#L98

Available from apps proc as /dev/spidev14.0.

To use, set GPIO_67 high (to set direction of directional level shifter internally…)

voxl-gpio -w 67 1
Pin#SignalNotes/Usage
1VREG_3P3V_LOCAL3.3V Power Output *
2MISO (Input)APPS_QUP_14, 3.3V signal levels
3MOSI (Output)APPS_QUP_14, 3.3V signal levels
4SCLK (Output)APPS_QUP_14, 3.3V signal levels
5CS0_N (Output)APPS_QUP_14, 3.3V signal levels
6CS1_N/GPIO_46 (Output)Second SPI CS_N or GPIO
7GPIO_64_INT_N (Input)Interrupt Input, 3.3V signal levels
8GNDGND

J19 - External Sensors (2x UART/ 2x I2C)

J19 Pin-out

Pin #Signal NameNotes
1VDC_5V_LOCALGNSS/Mag 5V power output, 900mA total when VBAT_IN = 3.8V **
2GNSS TX 3P3Vslpi_proc, SSC_QUP6, GPIO_176, 3.3V signal levels
3GNSS RX 3P3Vslpi_proc, SSC_QUP6, GPIO_177, 3.3V signal levels
4MAG SCL 3P3Vslpi_proc, SSC_QUP0, GPIO_161, 3.3V signal levels
5MAG SDA 3P3Vslpi_proc, SSC_QUP0, GPIO_160, 3.3V signal levels
6GND 
7ESC_UART_TX 3P3Vslpi_proc, SSC_QUP2, GPIO_166, 3.3V signal levels
8ESC_UART_RX 3P3Vslpi_proc, SSC_QUP2, GPIO_167, 3.3V signal levels
9VREG_3P3V_RCRC power *, controllable via GPIO 159
10RC_UART_TX (Output)slpi_proc, SSC_QUP7, GPIO_178, 3.3V signal levels
11RC_UART_RX (Input)slpi_proc, SSC_QUP7, GPIO_179, 3.3V signal levels
12GND 

SW Summary

All connected to the DSP, and in the factory configuration are used as follows:

  • QUP0 - I2C for external magnetometer
  • QUP2 - PX4 communicates to the VOXL ESC through this UART.
  • QUP6 - UART for external GNSS (GPS)
  • QUP7 - UART for external RC input

Power Input/Output Important Note:

  • All power outputs on cable connectors are rated for 1A, however, the system cannot provide 1A simultaneously on all connectors. Contact ModalAI for design assistance.

** VBUS and all 5V power outputs are limited to 900mA TOTAL for all loads (Fan, VBUS, and external GNSS/Mag)