Link Search Menu Expand Document

VOXL 2 QUPs

Table of contents

  1. Overview
  2. devcfg
    1. Version 6
      1. M0054
      2. 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

Version 6

  • used in system image 1.3+
  • enable qup7, 2W UART, for B2B J3 pins 3/5, support for M0125 add-on UART

M0054

Download:

QUPProtocolQRB5165 GPIONotesConnector/RoutingDevice
QUP0 0x980000SPI28-31Camera Group 0 SPIJ6 - 34,36,38,40, apps proc/dev/spidev0.0
QUP1 0x984000SPI4-7Camera Group 1 SPIJ7 - 34,36,38,40, apps proc/dev/spidev1.0
QUP2NA    
QUP3 0x98c000SPI119-122Onboard IMU1, 42688p,U7, apps proc/dev/spidev3.0
QUP4NA    
QUP5 0x994000UART12-15Camera Group 2 UARTJ8 - 34,36,38,40/dev/ttyHS0
QUP6HS UART    
QUP7 0x99c000HS UART22-23B2B 2W UARTJ3 - 3,5/dev/ttyHS1
QUP8NA    
QUP9 0xa84000I2C125-126B2B I2C9J3 - 13,15 
QUP10 0xa88000I2C129-130B2B I2C10J3 - 23,25 
QUP11NA    
QUP12 0xa90000debug34-35Debug Console (2W UART, 115200 baud)J3 - 27,29Not in perf build
QUP13NA    
QUP14 0x880000SPI40-43External SPI J10J10, apps proc,/dev/spidev14.0
QUP15 0x884000I2C44-45(internal use)  
QUP16NA    
QUP17NA    
QUP18NA    
QUP19 0x894000HS UART2-3HS B2B 2W UARTJ5 - 48,49/dev/ttyHS2

M0052

Download:

Deltas from M0054 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