ModalAI Forum

Hi @김다연 GPIO 109 sync through M0155 Yes. GPIO 109 is on pin 26 of J6, J7 and J8, and M0155 passes it through to the sensor. Same sync signal M0173 uses. It is driven by voxl-fsync-mod. IR + EO on J6 and J7 Not automatic. Two things are required in software. The sensors must be running a sensor module built with sync input enabled (the fsin variants under /usr/share/modalai/chi-cdk/, selected by camera HW ID), and voxl-fsync-mod must be enabled and configured for the correct GPIO. Without the fsin sensor module, the sensor ignores the trigger and free-runs. The fsync period also sets the frame rate, which is the cleaner answer to your earlier 8.6 fps question: drive the rate from voxl-fsync-mod rather than adding a sensor mode to the driver.

Hi @김다연 M0041 is well explained here, including device and I2C Addr: https://docs.modalai.com/power-module-v3-datasheet/ M0173 pinouts are here: https://docs.modalai.com/M0173/#m0173-voxl-2-starling-2-front-end with specific SPI port here: https://docs.modalai.com/M0173/#j6---sm08b-srss-tb

@Vinny said: J3는 3번 핀과 5번 핀(GPIO_23 RXD, GPIO_22 TXD)을 통해 UART7만 제공하며, 해당 장치는 /dev/ttyHS1로 열거됩니다. UART13은 J3가 아닌 고속 B2B 포트인 J5에 있습니다. J3 및 J5의 전체 핀 구성은 다음 링크를 참조 하십시오. -> Are any additional configuration steps required to enable UART7 on J3 and UART13 on J5, or are they already enabled by default?