Link Search Menu Expand Document

VOXL 2 QUPs

Table of contents

  1. Overview
  2. devcfg
    1. VOXL 2 Mini - M0104
    2. VOXL 2 - M0054
      1. Current Version (0008)
      2. Version 0007
      3. Version 0006
    3. RB5 Flight M0052

Overview

Together, the Qualcomm Universal Peripheral v3 and the TrustZone provide access to various protocols on various hardware interfaces. Trustzone is a necessary component that requires updates to in order to change protocol/interfaces.

Trusztone images are flashed during the system image installation (devcfg.mbn). The toolchain and source code to build the Trustzone image are unfortunately not open source.

devcfg

NOTE: changing TZ configuration can brick the hardware.

VOXL 2 Mini - M0104

Note: this is available in System Image 1.7+ for M0104 and will ship in SDK 1.1 and is available as preview here. To use with SDK 1.0, please contact devops @ modalai .com .

  • v0104.0, VOXL 2 Mini(md5sum: ccb6dedc4731aec6d80b4ef6db52fbd6)
  • convert SE14 from SPI to UART for VOXL 2 Mini
QUPProtocolQRB5165 GPIOConnector/RoutingDeviceNotes
QUP0 0x980000SPI28-31J6 - 34,36,38,40/dev/spidev0.0sys image 1.7+, Camera Group 0 SPI
QUP1 0x984000I2C4-5J7 - 34,36/dev/i2c-0sys image 1.7+ Camera Group 1 I2C
QUP2 0x988000I2C115-116  No J3 (B2B connector)
QUP3 0x98c000SPI119-122U7,/dev/spidev3.0sys image 1.7+, Onboard IMU1, 42688p
QUP4 0x990000     
QUP5 0x994000UART12-15  No J8 (Camera Group 2)
QUP6 0x998000HS UART    
QUP7 0x99c000HS UART22-23  No J3 (B2B connector)
QUP8 0xa80000NA    
QUP9 0xa84000I2C125-126  No J3 (B2B connector)
QUP10 0xa88000I2C129-130  No J3 (B2B connector)
QUP11 0xa8c000SPI60-63  No J5 (B2B connector)
QUP12 0xa90000debug34-35 Not in perf buildsys image 1.7+, Debug Console (2W UART, 115200 baud)
QUP13 0xa94000UART   No J5 (B2B connector)
QUP14 0x880000SPI40-43J10, apps proc/dev/ttyHS0sys image 1.3+, External SPI J10
QUP15 0x884000I2C44-45   
QUP16 0x888000NA    
QUP17 0x88c000NA    
QUP18 0x890000NA    
QUP19 0x894000HS UART2-3  No J5 (B2B connector)

VOXL 2 - M0054

Current Version (0008)

Note: this version works with M0104 SDK 1.0

  • M0054 v0008, VOXL 2(md5sum: ccb6dedc4731aec6d80b4ef6db52fbd6)
  • used in VOXL2 system image 1.5+
    • convert qup1 from SPI to I2C to expose apps_proc I2C on camera group
QUPProtocolQRB5165 GPIOConnector/RoutingDeviceNotes
QUP0 0x980000SPI28-31J6 - 34,36,38,40/dev/spidev0.0sys image 1.3+, Camera Group 0 SPI
QUP1 0x984000I2C4-5J7 - 34,36/dev/i2c-4sys image 1.5+ Camera Group 1 I2C
QUP2 0x988000I2C115-116J5 - 8,9/dev/i2c-0HS B2B I2C2
QUP3 0x98c000SPI119-122U7,/dev/spidev3.0sys image 1.3+, Onboard IMU1, 42688p
QUP4 0x990000I2C8-9J5 - 98,99/dev/i2c-5sys image 1.7+, HS B2B I2C
QUP5 0x994000UART12-15J8 - 34,36,38,40/dev/ttyHS0sys image 1.4+, Camera Group 2 UART
QUP6 0x998000HS UART    
QUP7 0x99c000HS UART22-23J3 - 3,5/dev/ttyHS1sys image 1.3+, B2B 2W UART
QUP8 0xa80000NA    
QUP9 0xa84000I2C125-126J3 - 13,15/dev/i2c-1sys image 1.3+, B2B I2C9
QUP10 0xa88000I2C129-130J3 - 23,25/dev/i2c-2sys image 1.3+, B2B I2C10
QUP11 0xa8c000SPI60-63J5 - 53,56/dev/spidev11.0sys image 1.5+, HS B2B SPI
QUP12 0xa90000debug34-35J3 - 27,29Not in perf buildsys image 1.3+, Debug Console (2W UART, 115200 baud)
QUP13 0xa94000UART38-39J5 - 97-98/dev/ttyHS3sys image 1.5+, HS B2B UART
QUP14 0x880000SPI40-43J10, apps proc,/dev/spidev14.0sys image 1.3+, External SPI J10
QUP15 0x884000I2C44-45 /dev/i2c-3(internal use)
QUP16 0x888000NA    
QUP17 0x88c000NA    
QUP18 0x890000NA    
QUP19 0x894000HS UART2-3J5 - 48,49/dev/ttyHS2sys image 1.3+, HS B2B 2W UART

Version 0007

  • M0054 VOXL2 - md5sum: 77366973052c03ce3eab57c1e92b490a
  • used in system image 1.5+
    • enable qup2: I2C, for HS B2B J5 pins 8/9, support for M0130 add-on I2C on J8
    • enable qup11: SPI, for HS B2B J5 pins 53/56, support for M0130 add-on SPI on J8
    • enable qup13: UART, for HS B2B J5 pins 36-39

Version 0006

  • version 6, M0054-VOXL2 - md5sum: 3698389194c899953c4e337a7b48cb97
  • used in system image 1.3+
    • enable qup7: 2W UART, for B2B J3 pins 3/5, support for M0125 add-on UART

RB5 Flight M0052

  • M0052-RB5-FLIGHT md5sum: cf613de37db6e7d2bb245f4d17cab79e

Deltas from M0054 version 6 above:

QUPProtocolQRB5165 GPIONotesConnector/RoutingDevice
QUP5 0x994000UART12-15Camera Group 2 UARTJ8 - 34,36,38,40/dev/ttyHS3
QUP6 0x998000HS UART SOM WiFiinternal/dev/ttyHS0
QUP7 0x99c000HS UART22-23B2B 2W UARTJ3 - 3,5/dev/ttyHS4
QUP13 0xa94000UART38-39PX4 RC inputapps_proc, M0052-J12/dev/ttyHS1
QUP18 0x890000UART58-59PX4 GNSSapps_proc, M0052-J10/dev/ttyHS2
QUP19 0x894000HS UART2-3HS B2B 2W UARTJ5 - 48,49/dev/ttyHS5