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    Intergrating VL53L1x Range Finder with VOXL2

    VOXL 2
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    • James StrawsonJ
      James Strawson ModalAI Team @Jetson Nano
      last edited by

      Hi @Jetson-Nano

      The I2C port on J19 is connected to the Sensors DSP and therefore can't be accessed from the main applications processor.

      Here is a new documentation page describing how to hook up and use these sensors.

      https://docs.modalai.com/rangefinders/

      1 Reply Last reply Reply Quote 0
      • Jetson NanoJ
        Jetson Nano
        last edited by Jetson Nano

        Thank you @modaltb @James-Strawson,

        Will check and get back. Apart from VL53L1x what are the other Rangefinder sensors which are compatible with VOXL2?

        Jetson NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Jetson Nano
          last edited by

          @James-Strawson @modaltb , I checked with reference to the documentation you shared, but still it was not working.

          I used the M0141 USB2 Breakout Board with the VL53L1X Rangefinder, and ran the commands that was there in the documentation.

          voxl-configure-rangefinders 1_downward_on_m0141
          

          And I got the similar output for the following commands

          voxl2:/$ voxl-configure-rangefinders 1_downward_on_m0141 
          creating new config file for 1 downward TOF without multiplexer
          DONE
          enabling  voxl-rangefinder-server systemd service
          Done configuring voxl-rangefinder-server
          voxl2:/$ cat /etc/modalai/voxl-rangefinder-server.conf 
          /**
           * Rangefinder Configuration File
           * This file is used by voxl-rangefinder-server
           * please use voxl-rangefinder-server --config {arrangement}
           * to set up this file.
           *
           * FOV for VL53l1X TOF rangefinder is a diagonal FOV in degrees and
           * can be set between 15 and 27 degrees.
           *
           * vl53l1x_timing_budget_ms MUST be one of 20, 33, 50, 100, 200, 500
           * 100 is default
           * vl53l1x FOV options are 15, 20, and 27 degrees
           * default is 27
           *
           * set id_for_mavlink to a valid id (0+) to publish that sensor reading to
           * mavlink as a DOWNWARD sensor for the autopilot to use
           * set to -1 to disable this feature.
           */
          {
          	"i2c_bus":	1,
          	"vl53l1x_timing_budget_ms":	50,
          	"id_for_mavlink":	0,
          	"sensors":	[{
          			"enabled":	true,
          			"sensor_id":	0,
          			"type":	"TOF_VL53L1X",
          			"fov_deg":	15,
          			"range_max_m":	3,
          			"location_wrt_body":	[-0.02500000037252903, 0.019999999552965164, 0.00800000037997961],
          			"direction_wrt_body":	[0, 0, 1],
          			"is_on_mux":	false,
          			"i2c_mux_address":	112,
          			"i2c_mux_port":	0
          		}]
          }
          

          But the rangefinder server in not running, even after starting the server. It is enabled but not running.

          Screenshot from 2024-07-05 11-38-52.png Screenshot from 2024-07-05 11-39-05.png

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          • modaltbM
            modaltb ModalAI Team
            last edited by

            Can you detect the sensor on the I2C bus, e.g https://docs.modalai.com/voxl2-linux-user-guide/#i2cdetect-usage ?

            Jetson NanoJ 1 Reply Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @modaltb
              last edited by Jetson Nano

              @modaltb It is not detecting any sensors, I check the sensor with another FC with PX4 which support VL53L1X and it was detected there.

              83689947-e4e1-4267-a075-2918b54f68f4-image.png

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              • modaltbM
                modaltb ModalAI Team
                last edited by

                what about with

                i2cdetect -r -y 1

                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                • Jetson NanoJ
                  Jetson Nano @modaltb
                  last edited by

                  @modaltb I tried detecting in all i2c bus, 0 to 5, it wasn't detected, I got three devices in 4, but it was UU and I think it is the cameras.

                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @Jetson Nano
                    last edited by

                    @modaltb

                    70308483-ccc3-4068-b59f-bc44b2608a01-image.png
                    cf541698-4c24-4180-aad6-79d543f3c9c3-image.png

                    1 Reply Last reply Reply Quote 0
                    • modaltbM
                      modaltb ModalAI Team
                      last edited by

                      Hi @Jetson-Nano

                      OK we'd expect something on the bus like this:

                      b67f6f17-672e-4d9e-94a7-6dc803bd8e97-image.png

                      Can you describe your wiring setup?

                      1 Reply Last reply Reply Quote 0
                      • Jetson NanoJ
                        Jetson Nano
                        last edited by

                        This is the wiring diagram of the sensor with the USB Expansion Board.
                        Screenshot 2024-07-26 at 3.52.05 PM.png

                        Jetson NanoJ 1 Reply Last reply Reply Quote 0
                        • Jetson NanoJ
                          Jetson Nano @Jetson Nano
                          last edited by

                          @modaltb Is there any specific SDK we could check for the working of Range-Finder with?

                          modaltbM 1 Reply Last reply Reply Quote 0
                          • modaltbM
                            modaltb ModalAI Team @Jetson Nano
                            last edited by

                            @Jetson-Nano are you using our M0070 board like this? https://docs.modalai.com/rangefinders/#single-rangefinder-using-m0141-expansion-board

                            Or custom? If custom check pin 5, which on our M0070 board is pulled up to 3.3VDC.

                            5639b8e2-b569-4c3e-934e-6ab3816e4ab5-image.png

                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @modaltb
                              last edited by

                              @modaltb I'm using M0141 expansion board.

                              modaltbM 1 Reply Last reply Reply Quote 0
                              • modaltbM
                                modaltb ModalAI Team @Jetson Nano
                                last edited by

                                @Jetson-Nano what is the VL53L1X on?

                                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                • Jetson NanoJ
                                  Jetson Nano @modaltb
                                  last edited by Jetson Nano

                                  @modaltb is connected on J5 port of M0141.

                                  modaltbM 1 Reply Last reply Reply Quote 0
                                  • modaltbM
                                    modaltb ModalAI Team @Jetson Nano
                                    last edited by

                                    @Jetson-Nano can you take a picture? for example, we make a M0070 board that has this sensor on it. Are you making your own carrier board for the sensor?

                                    0b5bffdb-4c2d-495a-96db-d42e6dd0c8cb-image.png

                                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                    • Jetson NanoJ
                                      Jetson Nano @modaltb
                                      last edited by

                                      @modaltb This is our setup,

                                      IMG_3702.jpg
                                      IMG_3703.jpg
                                      IMG_3701.jpg

                                      VinnyV 1 Reply Last reply Reply Quote 0
                                      • VinnyV
                                        Vinny ModalAI Team @Jetson Nano
                                        last edited by Vinny

                                        HI @Jetson-Nano
                                        We have not seen that module before.
                                        Is there a product link you can share so we can investigate for voltage and signal compatibility?

                                        Thanks!

                                        Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                        • Jetson NanoJ
                                          Jetson Nano @Vinny
                                          last edited by

                                          @Vinny @modaltb Here is the link of the product

                                          https://www.ktron.in/product/vl53l1x-laser-ranging-module-tof/

                                          Thanks!

                                          VinnyV 1 Reply Last reply Reply Quote 0
                                          • VinnyV
                                            Vinny ModalAI Team @Jetson Nano
                                            last edited by

                                            Thanks @Jetson-Nano
                                            Can you help us find schematics?
                                            I do not know what these parts are doing and could be leading to some of your issues...
                                            c8740441-8344-4eda-b26d-9762e267bcf4-image.png
                                            That site only has the link for the original datasheet.
                                            Without more detail, I cannot offer much help aside from speculation.

                                            Thanks!

                                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
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