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VOXL 2 Offboard Sensors

Table of contents

  1. RC Input
  2. GPS (GNSS/Mag)
  3. Power Monitoring
  4. External SPIs

RC Input

m0054-offboard-sensors-rc

J19: Full pinouts for all the connects are available here.

Pin #Signal NameNotes
1 Not used for RC
2 Not used for RC
3 Not used for RC
4 Not used for RC
5 Not used for RC
6 Not used for RC
7 Not used for RC
8 Not used for RC
9VREG_3P3V_RCRC power *, controllable via GPIO 159
10RC_UART_TX (Output)SSC_QUP7, 3.3V signal levels
11RC_UART_RX (Input)SSC_QUP7, 3.3V signal levels
12GND 

GPS (GNSS/Mag)

An external GPS (GNSS/Mag) can be connected to VOXL 2’s J19 connector.

m0054-offboard-sensors-gnss-mag

Name / DesignatorDescriptionInterface
GNSS UART / exposed via J19PX4 GNSSSSC_QUP6, 2W UART, SLPI (sDSP)
Mag I2C / exposed via J19PX4 MagSSC_QUP0, I2C, SLPI (sDSP)

J19: Full pinouts for all the connects are available here.

Pin #Signal NameNotes
1VDC_5V_LOCALGNSS/Mag power *
2GNSS TX 3P3Vslpi_proc, SSC_QUP7
3GNSS RX 3P3Vslpi_proc, SSC_QUP7
4MAG SCL 3P3Vslpi_proc, SSC_QUP1
5MAG SDA 3P3Vslpi_proc, SSC_QUP1
6GND 
7 Not used for GNSS/Mag
8 Not used for GNSS/Mag
9 Not used for GNSS/Mag
10 Not used for GNSS/Mag
11 Not used for GNSS/Mag
12 Not used for GNSS/Mag

Power Monitoring

m0054-offboard-sensors-pm

Although not technically onboard VOXL 2, using the VOXL Power Module v3 provides the ability to monitor battery voltage and regulated 5VDC voltage from the power module.

Name / DesignatorDescriptionInterfaceDriver
PX4 Power Monitoring (J4)QTY2 INA231SSC_QUP2, I2C, SLPI (sDSP), Addrs: 0x44h and 0x45hvoxlpm

J4: Full pinouts for all the connects are available here.

Pin#SignalNotes/Usage
1VDCIN_5VDC from Power Module, “unprotected”
2GNDPower Module Return
3I2C_CLKSSC_QUP_1, 5V signal levels, Pullups on Power Module
4I2C_SDASSC_QUP_1, 5V signal levels, Pullups on Power Module

Full pinouts for all the connects are available here.

External SPIs

The following SPI busses are available from the applications processor.

m0054-offboard-sensors-spi

Name / DesignatorDescriptionInterface
SPI0 / exposed via J6camera group 0 SPI/dev/spidev0.0
SPI1 / exposed via J7camera group 1 SPI/dev/spidev1.0
SPI5 / exposed via J8camera group 2 SPI/dev/spidev5.0
SPI14 / exposed via J10external SPI/dev/spidev14.0

Full pinouts for all the connects are available here.

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