RV1126B pinmux, CameVision Ego V1.I1. Source: device-tree/rv1126b-camevision-ego.dts.
The demonstration tool (flash, live page, calibration) is in English.
| Block | Schematic label | On the board |
|---|---|---|
| SoC | RV1126B | RV1126B |
| DDR4 U3 | K4A4G165WG (512 MB) | K4A8G165WG 16-bit 1 GB |
| eMMC U2A | BWCTAK611G16G | BWCTAK611G16G 16 GB |
| Cameras U7 / U10 | SC233HGS / OG02C10 / MIRA220 / AR0235 / OX05B1S / GS2.3 | ×2, I2C 0x30 each. SKU OS-SC / OS-OV / OS-AM / OS-AR / OS-OX / OS-GS |
| IMU U9 / U12 | LSM6DSV320XTR | LSM6DSVQTR ×2 |
| PMIC | RK801-2 | I2C0 0x27 |
| RTC | RV-3028-C7 | I2C2 0x52 |
| Wi-Fi / BT | VS6621S80 U14 | SDMMC1 + UART2 |
| Charger | BQ24072RGTR U13 | 250 mA fast charge |
| microSD | U6 475710001 | SDMMC0, 1.8 V VDD |
| Net | Pad / GPIO | Function |
|---|---|---|
| CAM0 MIPI | CSI RX0, 4-lane + CLK | U7 → /dev/video24 |
| I2C3_SCL/SDA_CAM | I2C3M1 GPIO4_A4 / A5 @0x30 | CAM0 control, 400 kHz |
| CAM0 XVCLK | CLK_CAM0_OUT 27 MHz | Sensor clock |
| CAM0_PWDN | GPIO4_A3 pad 1V21 | XSHUTDN, active high |
| MIPI_RX0_SYNC | AG32 GPIO4_A1 | FSYNC → U7.D3 |
| MIPI_RX0_TRIGGER | U31 GPIO6_C2 | EFSYNC → U7.B5 |
| CAM1 MIPI | CSI RX1, 4-lane + CLK | U10 → /dev/video32 |
| I2C4_SCL/SDA_CAM | GPIO4_A6 SCL · GPIO4_A7 SDA @0x30 | CAM1 bit-bang (pads swapped vs SoC I2C4_M2) |
| CAM1 XVCLK | CLK_CAM1_OUT 27 MHz | Sensor clock |
| CAM1_PWDN | GPIO4_A2 pad 1Y23 | XSHUTDN |
| MIPI_RX1_SYNC | AG31 GPIO4_A0 | FSYNC → U10.D3 |
| MIPI_RX1_TRIGGER | V31 GPIO6_C3 | EFSYNC → U10.B5 |
| PWR_EN_2.8V | GPIO0_B0 pad 1AB4 | U15 AVDD 2.8 V |
| PWR_EN_1.5V | GPIO0_B1 pad 1AA4 | U16 1.5 V |
| PWR_EN_1.2V | GPIO0_B2 pad 1AC2 | U18 DVDD 1.2 V |
Continuous trigger. Shared tick on FSYNC and EFSYNC. I2C4 disabled. GMAC off. SC233HGS chip id 0xcb61.
| Net | Pad / GPIO | Function |
|---|---|---|
| SPI0 CLK/CS0/MISO/MOSI | SPI0_M2 GPIO5_A3 / A4 / A5 / A6 | IMU0 U9 (CAM0) |
| IMU0_INT1 / INT2 | GPIO5_B1 · GPIO5_D4 | IMU0 interrupts |
| SPI1 CLK/CS0/MISO/MOSI | SPI1_M0 | IMU1 U12 (CAM1) |
| IMU1_INT1 / INT2 | GPIO6_B5 · GPIO6_C1 | IMU1 interrupts |
| I2C0_SCL/SDA_PMIC | I2C0M0 0x27 | RK801-2 |
| PMIC INT / PWRCTRL | GPIO0_C0 · GPIO0_C1 | PMIC |
| I2C2 | I2C2M0 0x52 | RV-3028 |
| RTC INT / EVI | GPIO0_C5 · GPIO0_C4 | RTC |
| I2C1 / I2C5 | - | Disabled on this PCB |
Fitted part is LSM6DSVQTR ×2, IIO st,lsm6dsv. SPI mode 3, spi-max-frequency 1 MHz, controller max-freq 10 MHz. DTB: st,odr-triggered, DRDY on INT1. HUD writes sampling_frequency (oneshot sysfs).
| Accel | Gyro | |
|---|---|---|
| This package (HUD) | 480 Hz | 480 Hz |
| IIO nodes | CAM0 iio:device2 · CAM1 iio:device4 | CAM0 iio:device1 · CAM1 iio:device3 |
| ODR list (Hz) | 1.875 · 7.5 · 15 · 30 · 60 · 120 · 240 · 480 · 960 · 1920 · 3840 · 7680 | 7.5 · 15 · 30 · 60 · 120 · 240 · 480 · 960 · 1920 · 3840 · 7680 |
| Full-scale (typical) | ±2 / 4 / 8 / 16 g | ±125 / 250 / 500 / 1000 / 2000 / 4000 dps |
/sys/bus/iio/devices/iio:deviceN/sampling_frequency · sampling_frequency_available. Default ODR in tools/ego_imu_hud.py is "480". JSON on :8083: odr_hz, read_hz.
Order code on the board is LSM6DSVQTR (tape-and-reel of ST LSM6DSV). Figures below are ST Table 3 typical values at Vdd = 1.8 V, 25 °C. Typical values are not guaranteed. Zero-level offsets are after calibration. These are silicon numbers from the ST LSM6DSV datasheet, not a CameVision board characterization.
| Accel | Gyro | |
|---|---|---|
| Resolution | 16-bit | 16-bit |
| Full-scale | ±2 / 4 / 8 / 16 g | ±125 / 250 / 500 / 1000 / 2000 / 4000 dps |
| Sensitivity | 0.061 / 0.122 / 0.244 / 0.488 mg/LSB | 4.375 / 8.75 / 17.50 / 35 / 70 / 140 mdps/LSB |
| Sensitivity tolerance | — | ±0.3 % (FS up to ±2000 dps) |
| Sensitivity vs temperature | ±0.01 %/°C (−40…+85 °C) | ±0.007 %/°C (−40…+85 °C) |
| Zero-level offset (after cal) | ±12 mg | ±1 dps |
| Offset vs temperature | ±0.07 mg/°C | ±0.006 dps/°C |
| Noise density (high-performance) | 60 µg/√Hz | 2.8 mdps/√Hz |
| Noise density (normal) | 100 µg/√Hz | — |
| RMS noise (low-power) | 2.3 / 1.8 / 1.2 mg (LPM1 / LPM2 / LPM3) | 60 mdps RMS |
| ODR accuracy (HA, gyro on) | ±1 % | ±1 % |
| Operating temperature | −40 … +85 °C | −40 … +85 °C |
Noise densities are independent of ODR. Gyro rate noise is independent of FS up to ±2000 dps. Accel noise figures apply with XL_DualC_EN = 0. HUD default is 480 Hz oneshot sysfs; IIO scale on the live board is the LSB size for the selected full-scale.
| Net | Pad / GPIO | Function |
|---|---|---|
| eMMC | EMMC / FSPI | U2A, live mmc0 |
| SDMMC0 CLK/CMD/D0–D3 | GPIO2_A0–A5 | microSD (not the LED pad) |
| SDMMC0_DET | GPIO3_B3 pad 1B14 | Card detect, active low, pull-up |
| SDMMC0_PWREN | GPIO3_B4 pad 1A14 | SD rail enable (not dtsi GPIO0_A10) |
| SDMMC1 CLK/CMD/D0–D3 | SDIO | VS6621 Wi-Fi |
| WIFI_RST / CHIP_EN | GPIO3_B2 | pwrseq, low = rail on (BSS84 Q1) |
| WIFI_SOC_PWCTL | GPIO3_B6 | HOST_WAKE_WL |
| WIFI_INT | GPIO3_B7 pad A16 | WL_WAKE_HOST |
| UART2 TX/RX/CTS | UART2M0 | BT |
| UART2 RTS | GPIO3_A6 | BT RTS as GPIO |
| USB-C J3 | USB2 + USB3 DRD | ADB gadget, dr_mode peripheral |
| BAT_CHG | GPIO0_A7 pad 1AC4 | BQ24072 charge status, active low |
| STATUS_LED_R | GPIO0_A6 pad 1AA6 | RGB common-anode, active low |
| STATUS_LED_G | GPIO0_A5 pad AL10 | RGB common-anode, active low |
| STATUS_LED_B | GPIO0_A4 pad 1AB6 | RGB common-anode, active low |
| UART0 | UART0M2 | Console 1.5 Mbaud |
| SARADC0_IN7 | ADC | Maskrom / eMMC boot |
Card detect is GPIO3_B3. GPIO0_A5 is the green LED.
| Block | State in the device tree |
|---|---|
| GMAC | Off: frees GPIO6_C2 / C3 for camera EFSYNC |
| I2C1 · I2C5 | Disabled |
| DSI / display | Unused |
| EPHY / Ethernet | Sheet present, not fitted |
| Audio / I2S | Sheet present, not fitted |
