@valvarez , yes, this is the expected correct behavior.

I believe you were initially using older M0065 firmware (version 1) as well as older PX4 build which was working with that version of M0065 (VOXL2 IO board). However that release had some issues that were fixed and you should not use firmware version 1.

The older PX4 version used a different (old) driver for the voxl2-io board, and you can tell that because the debug print was very short and it accepted SW version 1:

SLPI: Detected M0065 protocol version. SW: 1, HW: 35

If you see that, it means you are using outdated (buggy) software. The latest (stable) firmware is verion 2 and the corresponding PX4 driver will require that version and print out a lot more information about the board and the VOXL2_IO params.

Alex

@andrevs01 ,

The documentation links I provided describe how to get M0065 board running in PX4 as a standard actuator that supports 8 PWM outputs.

If you are familiar with PX4, GCS, Actuators, then look through those documentation pages and follow the setup.

However, i don't have the full information about your hardware, so i don't know if you need some customizations:

are you using voxl2 on a flying drone? if so, are you using a modalai ESC or another ESC? Are you planning to use M0065 board to generate pwm output for your ESC (if you are using a standard ESC that accepts PWM as control input) do you need to use PX4 for your application? the reason why I ask is that you can use M0065 pwm outputs without PX4 if you don't need PX4 at all.

Alex

Hi @Amir-Avni,

Does your silkscreen on VOXL2 show M0154 or M0054?

If M0054, it's 'hard coded' as an output only... behind a uni-directional level shifter.....

If it's M0154, there's a directional level shifter in front of that GPIO that allows us to (with a kernel tweak) switch between UART and SPI.

By default we are configured for UART use case, and the level shifter is set to allow an INPUT, by setting GPIO 67 low (as default), which is setup in device tree here, see "67" in modalai,gpio-init-output-low
https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/v1.8.02/recipes-kernel/linux-msm/files/dts/common/m0xxx-modalai-gpio.dtsi?ref_type=tags#L12

To enable VOXL2 J10 pin6 (gpio46) as an input, make sure gpio67 is set to low