VOXL 2 Mini - D0013 Architecture (Stinger)

Table of contents

1. Hardware
   1. VOXL2 Mini
      1. Summary
      2. Block Diagram
2. Software
3. Platform Features
   1. MSP_DP OSD Support for Non-ModalAI VTX (HD-zero or Walksnail)
   2. VOXL2 Driven Image Sensor Synchronization
   3. FLIR Lepton
   4. New Kernel Configuration for M0188

Hardware

VOXL2 Mini

Summary

The Stinger D0013-6-C33-M26-X8 configuration consists of:

• D0013-6 - Stinger Family (VOXL2 Mini Compute)
  • M0129-63 VOXL ESC Mini with built in power management
  • M0187 FLIR Lepton 3.5 thermal sensor using M0188
• Cxx - Camera Config
  • C33 - Single IMX664 using M0186, Dual AR0144 using M0188
• Tx - Recevier Config
  • T8 - ELRS
• Xx
  • X8 - Lepton for Tracking

Block Diagram

Below describes the compute HW block diagram for the D0013-6-C33-M26-X8 configuration.

View in fullsize

Diagram draw.io Source

Software

• Supported VOXL SDK: 1.4+
• Supported Kernels (config 2): m0104-1-var00.2-kernel.img

Platform Features

MSP_DP OSD Support for Non-ModalAI VTX (HD-zero or Walksnail)

• MSP Display Port OSD support for HDZero (PX4 driver)
• PX4 OSD Params for FrSky Skyvision (here)

VOXL2 Driven Image Sensor Synchronization

In the D0013 architecture using the M0188 breakout, the following occurs for the tracking sensors:

• The voxl-fysnc-mod ships in SDK 1.3+ and defaults to use GPIO 109, 30Hz, and disabled.
• When a C22 image sensor configurations is setup using voxl-configure-cameras, the config file at /etc/modalai/voxl-camera-server.conf is setup with:

...
"fsync_en":	true,
"fsync_gpio":	109,
...

• When camera server runs, it will use the voxl-fsync-mod params exposed to the file system at /sys/module/voxl_fsync_mod/parameters, for example enabled, gpio_num, and enable the sync pulse at the default 30Hz.
• When a C22 image sensor configurations is setup using voxl-configure-cameras, the AR0144 drivers are copied into /usr/lib/camera that are setup for slave mode and will capture sychronized frames at the rate defined (note: the FPS should also be configured in /etc/modalai/voxl-camera-server.conf accordinly to ensure proper register settings are loaded)

the following shows M0173 which has similar architecture as M0188.

FLIR Lepton

In the D0013 architecture using the M0188 breakout:

(NOTE: in SDK 1.4.0, only one can be used at a time)

• VL53L1CX Range Finder is accesible over /dev/i2c-0, see /etc/modalai/voxl-rangefinder-server.conf and voxl-rangefinder
• FLIR Lepton is accesible over /dev/i2c-0 and /dev/spidev0.0, see /etc/modalai/voxl-lepton-server.conf and voxl-lepton-server
  • note see (M0188) docs for details as I2C channel selector is also in use here

New Kernel Configuration for M0188

The D0013 drone family uses the new kernel config 2 (as opposed to config 0). See /sys/module/voxl_platform_mod/parameters/config to verify proper kernel config.