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

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".

1. Mount & wire — power OFF, insert both 22-pin FFCs with the correct orientation for this model (see iron rules), seat, screw down.
2. Update TROS — sudo apt update && sudo apt upgrade; check with apt show tros-humble.
3. 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.
4. 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):

1. 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.
2. 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.
3. Python — build core first, then cd python && make → pip install dist/rdkimu-*.whl; sudo python3 examples/test_imu.py.
4. 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, config reference, code examples, and troubleshooting: imu-sdk-guide.md. Catalog summary: accessories-catalog.md.

Path B — RDK OS BMI088 IIO driver (X5 / X5 Module only, OS image 3.4.x, compatible with 3.5.x):

1. sudo srpi-config → 3 Interface Options → I6 IMU → select BMI088-I2C-Interface (or the SPI entry) → reboot.
2. 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

Anti-hallucination guardrails

When answering from this skill, follow these rules — never fabricate facts, commands, or file paths:

1. Report only observed data. Quote what scripts/commands actually return, not what you remember. If the probe says board_id: X5, answer for X5 — even if the user insists it's an S100.
2. No fabrication when tools are missing. If a script or reference doesn't exist, say "not found" — don't invent from memory. Route to the appropriate skill or doc instead.
3. Preserve null/false/empty on failure. If a probe returns null or false, report that — don't substitute a plausible value. Empty output is data, not an error to "fix".
4. No substitution off-platform. If off_platform: true, say "probe didn't run on an RDK board" — don't guess what it would have returned. Ask for on-board logs.
5. No hand-editing JSON. Scripts emit structured JSON; never hand-craft output. If the contract says {ok,off_platform,reason,fields}, that's what goes to the user.
6. Acknowledge sandbox limits. If you can't run a command, say so — don't pretend you did. Offer the command for the user to run.
7. Read-only boundary. Never modify the system — no dd, mkfs, rm -rf, apt install, reboot, or GPIO output without explicit user confirmation.

Reference map