Rebuilding kernel for VOXL 2 Mini to swap J10 to SPI, M0188 2 Lepton configuration

Haxerus

Hello,

I am trying to get the M0188 board working with the VOXL 2 Mini to control 2 Leptons but I've hit a roadblock getting the J10 port to switch from UART to SPI. I've rebuilt the kernel with the following modifications to the DTS files on meta-voxl2-bsp.

m0104-kona.dtsi:

added spi14 = &qupv3_se14_spi

m0104-modalai-qupv3.dtsi:

changed status of &qupv3_se14_2uart to "disabled"
changed status of &qupv3_se14_spi to "ok"
added the following to &qupv3_se14_spi

spidev@0 {
    compatible = "spidev";
    reg = <0>;
    spi-max-frequency = <50000000>;
};

I am not sure these are the only modifications required as I am not familiar with Linux kernel development, I just followed the documentation and commit history in meta-voxl2-bsp.

After building and loading the kernel I run voxl-gpio -w 67 1 as mentioned here. When I run ls /dev/ I am able to see /dev/spidev14.0. I tried testing it with this tool and a loopback cable that connects MISO to MOSI but it just hangs. That tool works fine with spidev0.0.

I modified voxl-lepton-server to use the 2nd I2C channel for Lepton #2. I then tried to change /etc/modalai/voxl-lepton-server.conf to use SPI bus id 14 but it caused voxl-lepton-server to hang, seemingly not getting any data from the SPI port.

Any guidance on how to properly use J10 as an SPI port and how to get voxl-lepton-server to read from it would be greatly appreciated.

Haxerus

@Alex-Kushleyev @modaltb If you have any insights that would be appreciated. Thanks.