Feasibility check: 5x M0166 (AR0144) tracking cameras on a single VOXL 2

[박민솔]

Hi,

We are planning to connect five M0166 (AR0144, micro-coax) tracking cameras to a single VOXL 2 (not VOXL 2 Mini), and would like to confirm feasibility before ordering hardware.

• Use case: 360° coverage
• Frame sync across all five cameras: required
• Target: 1280x800 @ 30 fps

From the docs and forum threads (topics 5010, 4491, 5130), our understanding is:

• VOXL 2 has only 4 unique CCI buses, so with five AR0144s at least one must use the alternate slave address (0x20) via the resistor change plus an alt-address sensormodule.
• The confirmed 4x AR0144 setup is C27 on M0173 plus one alt-address AR0144 on J8 via M0155.
• Adding a fifth AR0144 on J8 lower (ID4) would put a third AR0144 on CCI1, so we are considering J8 upper (ID5, CCI3) via M0172 J2U instead.

Proposed layout (no ToF):

Sensor ID	Connection	CCI	Slave address
0	M0173 J1 (J6 lower)	CCI0	default
1	M0173 J4 (J6 upper)	CCI1	alt (0x20)
6	M0173 J2	CCI1	default
2	M0173 J5 (J7 lower)	CCI2	default
5	M0172 J2U on VOXL 2 J8 (upper)	CCI3	default

Questions:

1. Is this layout supported, or at least expected to work, with the M0173 kernel config (platform config 1)? In particular, is sensor ID 5 (J8 upper) enabled in that kernel and usable with an AR0144 through M0172 J2U?
2. Is an alt-address (0x20) sensormodule for slot 1 included in the current SDK, or only in the zip shared in topic 5010? Is there an alt-address + fsin variant?
3. Frame sync: can all five cameras be synchronized on GPIO 109? Is the sync line routed to M0172 J2U, and does M0173 J4 (ID1) need any resistor changes (similar to R10/R11 on M0188)? Is an ar0144_fsin_5 sensormodule available?
4. Can ModalAI supply an M0166 with the alternate slave address pre-configured, so we don't have to modify the module ourselves and void the warranty?
5. Are there known throughput limits (CSI / ISP / camera server CPU) for 5x AR0144 at 1280x800 @ 30 fps on VOXL 2?
6. If this layout is not recommended, what is the recommended way to run five AR0144s on VOXL 2 (e.g. M0226 or other adapters)?

Thanks!