| name | rdk-accessories |
| description | Bring up D-Robotics OFFICIAL finished accessories — GS130W / GS130Wi binocular depth cameras, the RDK IMU Module (Bosch BMI088), and the RDK S100/S600 Camera & MCU-Port expansion boards — covering selection, wiring/FFC orientation, mounting, and driver/SDK bring-up. These are plug-and-play modules with official pinouts and official SDK/IIO drivers, which is exactly what separates them from DIY peripherals. Use whenever the user asks how to connect/run one of these named parts, which launch file to use, how many CAN/GMSL/MIPI an expansion board has, or which board a part supports. 触发词:GS130W、GS130Wi、双目相机怎么接、22pin 线序、mipi_cam dual、RDK IMU 模组、BMI088、IMU 读数、IIO 驱动、rdk-imu-module-sdk、S100 相机扩展板、S600 相机扩展板、MCU 扩展板、几路 CAN、几路 GMSL、GMSL 供电、扩展板装在哪块板。Routing — DIY a sensor/motor/LED on raw GPIO/I2C/SPI/PWM → rdk-peripheral-cookbook; the board's OWN 40PIN/CAN/Ethernet/compute facts → rdk-hardware; bringing up an UNSUPPORTED MIPI sensor → rdk-mipi-camera-bringup; model deploy / TROS node dev → rdk-device / rdk-ros. |
RDK Official Accessories
Bring up the four families of D-Robotics finished accessories: the GS130W / GS130Wi binocular cameras, the RDK IMU Module (BMI088), and the S100 / S600 Camera and MCU-Port expansion boards. Every one has an official pinout and an official driver/SDK — that is the line between this skill and DIY peripheral wiring.
Sources: D-Robotics accessories_doc (GS130W docs/01_*, GS130Wi docs/02_*, IMU module docs/03_* incl. 05_software/**) and rdk_s_doc (docs/01_Quick_start/01_hardware_introduction/{01_rdk_s100,02_rdk_s600}/{02_camera,03_mcu_port}_expansion_board.md). Every non-trivial fact below was re-verified against those repos. Specs trace to the official spec sheets / pinlists as the single source of truth.
The one thing that trips people up
There are TWO different IMU chips in this lineup — do not mix them. The standalone RDK IMU Module is a Bosch BMI088 on the 40PIN header. The IMU built into the GS130Wi camera is an InvenSense ICM-42688-P, reached over the right-eye MIPI connector's shared I2C. Different chip → different driver name, IIO device name, registers, and bring-up path. The S100/S600 MCU-Port expansion boards also carry an on-board BMI088 (over SPI). Always confirm which part the user actually has before quoting a driver.
Decision cheat-sheet
| Accessory | Type | Core chip | Interface | Supported boards | Key gotcha |
|---|
| GS130W | Binocular depth camera | 2× SC132GS global-shutter | 2× 22-pin MIPI CSI-2 | X5 / X5 Module / S100 / S100P / S600 — NOT X3 (single MIPI only) | No IMU; baseline 80 mm; FFC contacts face away from PCB |
| GS130Wi | Binocular + IMU | 2× SC132GS + ICM-42688-P | 2× 22-pin MIPI + 3-pin IMU timestamp | same as GS130W | Baseline 70 mm; FFC contacts face toward PCB (opposite of GS130W); IMU shares right-eye I2C |
| RDK IMU Module | 6-axis IMU module | Bosch BMI088 | 40PIN (I2C or SPI via jumpers) | X5 / X5 Module direct; S100/S100P/S600 need jumper wiring — NOT X3 | Carries 3 LEDs + buzzer + DS18B20 temp sensor |
| S100 Camera Expansion Board | Expansion board | MAX96712 | 2× MIPI + 4× GMSL | S100 series only | Set SW2201 level (1.8/3.3 V) BEFORE plugging a MIPI camera |
| S600 Camera Expansion Board | Expansion board | 2× MAX96712 | 8× GMSL, NO MIPI | S600 series only | Pure GMSL; DC plug 2.5/5.5 mm (≠ S100's 6 mm) |
| S100/S600 MCU-Port Expansion Board | Expansion board | on-board BMI088 | 5× CAN FD + 30-pin (+ RJ45 on S100 only) | each its own series | S100 IMU "not yet implemented in SDK V4.0.2" |
Full specs, every pinout, SDK/IIO usage, and per-board interface tables: accessories-catalog.md.
Wiring iron rules (read before every plug/unplug)
- Power the board OFF before connecting any FFC/FPC cable. Hot-plugging can arc or mis-seat contacts and destroy the device — the docs repeat this everywhere. FFC is flexible film; never yank it.
- GS130W and GS130Wi insert the FFC in OPPOSITE orientations. GS130W: contacts face away from the PCB. GS130Wi: contacts face toward the PCB. Do not copy one from the other.
- An expansion board fits ONLY its own series. S100 board on S600 (or vice-versa) is forbidden; damage from a non-compatible pairing is not covered. Keep board and daughterboard parallel, seat evenly, then fit the screws.
- GMSL power: each camera draws 12 V from the main board only if ≤700 mA; above 700 mA you MUST add an external 12 V DC adapter (S100 plug 2.5/6 mm; S600 plug 2.5/5.5 mm). Each GMSL port supplies at most 550 mA @ 12 V.
- MIPI logic level must match first. On the S100 Camera board, set SW2201 to the camera's required 1.8 V or 3.3 V before inserting it, or you risk comms failure / damage.
Workflows
Workflow 1 — Bring up GS130W / GS130Wi (TROS)
Use when: "GS130 怎么接", "双目跑哪个 launch", "看双目画面".
- Mount & wire — power OFF, insert both 22-pin FFCs with the correct orientation for this model (see iron rules), seat, screw down.
- Update TROS —
sudo apt update && sudo apt upgrade; check with apt show tros-humble.
- Source & launch —
source /opt/tros/humble/setup.bash → ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=1280 mipi_image_height:=1088. The official quick-start documents the Humble path (X5/X5M/S100/S100P). On S600 TROS is Jazzy (/opt/tros/jazzy), so source that path instead — confirm the actual install with ls /opt/tros.
- Web preview — also run
ros2 launch mipi_cam mipi_cam_dual_channel_websocket.launch.py, then open http://<RDK-IP>:8000 in a PC browser and click the web display.
Backed by hobot_mipi_cam. hobot_sensor auto-adapts the sensor type — its supported list (X5/X5M/S100/S100P) is SC230ai and SC132gs. On S100/S100P the camera must mount through the Camera Expansion Board.
Workflow 2 — Read the RDK IMU Module (BMI088) — pick ONE path
Path A — official rdk-imu-module-sdk (recommended; no IIO dependency, cross-platform):
git clone https://github.com/D-Robotics/rdk-imu-module-sdk (MIT). Needs aarch64, kernel >5.10, user-space I2C/SPI. Deps: sudo apt install build-essential cmake libgpiod-dev python3-pip.- C —
cd core && make → out/test (auto-probes I2C/SPI + address, 400 Hz); run sudo ./out/test or make test. make install to install headers/libs.
- Python — build
core first, then cd python && make → pip install dist/rdkimu-*.whl; sudo python3 examples/test_imu.py.
- ROS2 —
source /opt/tros/*/setup.bash → cd ros2 && colcon build → source install/setup.bash → ros2 launch rdk_imu_module rdk_imu.launch.py. Topic /rdkimu/data (sensor_msgs/msg/Imu).
API call order: bus init → device init → enable → read → disable → deinit. BMI088 accel and gyro are two independent, unsynchronized devices — use read_indep() and check data.accel.valid/data.gyro.valid, or read_fused() for time-aligned 6-axis. The raw SDK read data is accel in m/s² and gyro in °/s (per the C-API doc); only the ROS2 node publishes angular_velocity in rad/s (ROS convention). Timestamps are CLOCK_MONOTONIC ns. Full API details: accessories-catalog.md.
Path B — RDK OS BMI088 IIO driver (X5 / X5 Module only, OS image 3.4.x, compatible with 3.5.x):
sudo srpi-config → 3 Interface Options → I6 IMU → select BMI088-I2C-Interface (or the SPI entry) → reboot.- I2C self-check:
i2cdetect -y -r 5. Read: ls /sys/bus/iio/devices/ then cat /sys/bus/iio/devices/iio:deviceN/gyr_val (N as actually enumerated). SPI registration: dmesg | grep BS_LOG.
Workflow 3 — Look up an expansion board's capability
Do not answer from memory — S100 and S600 differ. Read the interface tables in accessories-catalog.md:
- Camera boards: S100 = MAX96712, 2× MIPI + 4× GMSL; S600 = 2× MAX96712, 8× GMSL, no MIPI.
- MCU-Port boards: both carry an on-board BMI088 and 5× CAN FD (≤8 Mbps). S100 has an RJ45 GbE in the MCU domain and IMU on SPI-5; S600 has no RJ45 and IMU on SPI-13. S100 CAN channels are CAN5–CAN9; S600 are CAN1–CAN4 + CAN10.
CAN on S100/S600 lives in the MCU domain via CANHAL, not Linux SocketCAN — see rdk-hardware for the software side.
Worked examples
Example 1 — "GS130Wi 内置的 IMU 是 BMI088 吗?怎么读?"
No. "GS130Wi 内置的是 ICM-42688-P(走右目 MIPI 接口复用的 I2C),不是 BMI088。BMI088 是另一个独立的 RDK IMU 模组,走 40PIN。两者驱动名、IIO 设备名、寄存器都不同,别套用。GS130Wi 的相机用 mipi_cam 那套 launch 跑;它的 IMU 时间戳走那根 3pin 线,是否接由软件决定。"
Example 2 — "S600 的相机扩展板有几路 MIPI?"
"S600 相机扩展板是 纯 8 路 GMSL,没有 MIPI 接口(2× MAX96712)。需要 MIPI 双目的话,GS130W/Wi 在 S600 上是直接接主板的,不经这块板。MIPI+GMSL 混合的是 S100 相机扩展板(2× MIPI + 4× GMSL)。两块板不通用。"
Example 3 — "RDK IMU 模组接到 S100 上怎么用?"
"S100 支持但不能直插,需要跳线接 40PIN 的 I2C/SPI(模组上 3×5 排针用跳线帽选 I2C 或 SPI)。读数走官方 rdk-imu-module-sdk(C/Python/ROS2 都行,不依赖 IIO 驱动,适合非 X5 板)。注意:S100 MCU 扩展板上还另有一颗板载 BMI088(SPI-5),但文档注明 RDKS100_LNX_SDK_V4.0.2 暂未实现,别假设开箱即用。"
Example 4 — "GS130W 在 X3 上能用吗?"
"不能。GS130W/Wi 需要双路 MIPI,而 X3/X3 Module 只有单路 MIPI,官方列为不支持。支持的是 X5、X5 Module、S100/S100P(需装 Camera 扩展板)、S600。"
Common pitfalls
| ❌ Don't | ✅ Do |
|---|
| Assume GS130Wi's IMU is BMI088 | It's ICM-42688-P; only the RDK IMU Module & MCU boards use BMI088 |
| Copy GS130W's FFC orientation onto GS130Wi | Opposite directions — verify per model |
| Hot-plug an FFC with the board powered | Power OFF first, every time |
| Mix an S100 board onto S600 (or vice-versa) | Each board fits only its own series |
| Plug a MIPI camera before setting the level | Set SW2201 to 1.8/3.3 V first |
| Recite launch names / bus numbers / IIO device index from memory | ls, i2cdetect, cat name to confirm first |
| Treat the S100 MCU on-board IMU as ready | SDK V4.0.2 notes it as not yet implemented |
Reference map
| Read this | When |
|---|
| accessories-catalog.md | Full specs, every 22-pin/40-pin/CAN pinout, IMU SDK & IIO usage, S100/S600 expansion-board interface and power tables, download links |
scripts/accessory_lookup.py | Deterministic "which accessory works on board X / what chip / what interface" lookup |
assets/rdk_imu_x5_default_config.txt | The official RDK_IMU_X5_DEFAULT_CONFIG values (GPIO chip/line, ODR, range, FIFO) to copy into an SDK config |
