# GOBI Hardware

## Sensors

### SBG Quanta Micro Documentation

{% embed url="<https://support.sbg-systems.com/sc/hp/latest/documentation-resources/quanta-micro-documentation>" %}

### Ouster OS1

{% embed url="<https://static.ouster.dev/sensor-docs/hw_user_manual_OS1/hw_common_sections_OS1/os1-overview.html>" %}

### Headwall Nano HP

{% embed url="<https://headwallphotonics.com/products/remote-sensing/nano-hp-400-1000nm-hyperspectral-imaging-package/>" %}

### Sony ILX-LR1

Sony ILX-LR1 to interface with network via [USB-C to gigabit ethernet adapter](#user-content-fn-1)[^1] ([Microchip LAN7800](https://www.microchip.com/en-us/development-tool/evb-lan7800)) contained in RGB camera module

{% embed url="<https://pro.sony/ue_US/products/installable-cameras/ilx-lr1>" %}

## Components

Will utilize new GRYFN Compute PCB to support SoC carrier and INS breakout, plus power and sensor connections

### BotBlox UbiSwitch

Contained internally to allow networking of SoC, INS, LiDAR, RGB, UAV, and user PC

{% embed url="<https://botblox.io/ubiswitch-module-3-x-10gbase-t-8-1gbase-t-switch/>" %}

### NVIDIA Jetson TX2 & Carrier Board

{% embed url="<https://developer.nvidia.com/embedded/jetson-tx2>" %}

{% embed url="<https://developer.nvidia.com/embedded/downloads#?search=Jetson%20TX2%20Series%203D%20CAD%20STEP%20Models>" %}

{% file src="<https://1859480457-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F0x7fEbqbQH6LOaUlQlgY%2Fuploads%2Fw8Ue2xNvLZbGcWHuZNVb%2FCTIM-ASG001_Manual.pdf?alt=media&token=7c7a2786-8f61-4db0-9240-b19db878a670>" %}

### USB to Ethernet IC

{% embed url="<https://www.microchip.com/en-us/product/lan7800>" %}

### Extras

* [Eval Board 1](https://www.microchip.com/en-us/development-tool/EVB-LAN7800LC-1)
* [Eval Board 2](https://www.microchip.com/en-us/development-tool/EVB-LAN7800)

## Specifications

### Physical Features

| PARAMETER                                   | METRIC UNITS             | IMPERIAL UNITS          |
| ------------------------------------------- | ------------------------ | ----------------------- |
| <p>Gobi Weight <br>w/ Sony ILX-LR1</p>      | 2.305 kg                 | 5.082 lbs               |
| <p>Gobi Dimensions<br>w/ Sony ILX-LR1</p>   | 25.85 x 11.09 x 14.28 cm | 10.18 x 4.37 x 5.62 in  |
| <p>Gobi Weight <br>w/o Sony ILX-LR1</p>     | 1.710 kg                 | 3.770 lbs               |
| Gobi Weight w/ LiDAR+GNSS Only              | 1.485 kg                 | 3.274 lbs               |
| <p>Gobi Dimensions <br>w/o Sony ILX-LR1</p> | 17.85 x 11.09x 14.25 cm  | 7.03 x 4.37 x 5.62 in   |
| Pelican Air 1525 Case Size                  | 55.8 x 33.5 x 19 cm      | 21.96 x 13.97 x 7.49 in |
| Pelican Air 1525 Case Weight w/o Gobi       | 3.7 kg                   | 8.16 lbs                |

## User Interface

|                        |                                                                                                                                                                                                |
| ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Gobi External Ports    | <p>USB-C (Power Delivery)<br>USB-C (Data Tansfer)<br>RJ45 (Ethernet)<br>Dual SMA (GNSS Antennas)</p>                                                                                           |
| Gobi Payload Interface | <p><a href="https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-014%20Pixhawk%20Payload%20Bus%20Standard.pdf">Pixhawk Payload Bus Standard</a> <br>(power and mechanical mounting)</p> |

[^1]: Need to test with camera to ensure proper functionality