OK, here is the clarification regarding camera IDs and sensormodule file names and the general process for camera detection on VOXL2 platforms
all the camera-related drivers are located in /usr/lib/camera
the index at the end of sensormodule.bin filename, such as 0 in com.qti.sensormodule.imx678_0.bin is only used to distinguish the files - the actual index at the end is not being used for anything
each sensormodule.bin file contains a camera_id parameter, which is read by the camera framework after loading the .bin file
the camera_id is then used by the Kernel to look up the specific port information to be used for communication with the specific camera, including (but not limited to): i2c (cci) bus id, mipi interface id, reset pin and others. This information is mapped to each camera port in the Linux Device Tree.
with the above information (all basically mapped to a single camera ID), the camera framework knows how to turn on the camera, which bus to use for i2c communication and which mipi port to receive the image data from
after obtaining the port information, the camera framework uses other information in sensormodule.bin to detect the camera (query the WHOAMI register for camera identification). If the camera is detected, it is considered to be available for the camera framework to use (not much else is happening until you actually open the camera using the voxl-camera-server, for example). The camera framework also loads the list of available streaming modes which is also contained in the sensormodule.bin
after the camera is queried / identified, it is then powered off
when voxl-camera-server is started, it sees all the cameras that the camera framework already detected and their corresponding resolutions / modes. Based on the voxl-camera-server.conf, the appropriate cameras are turned on again and set to stream at the desired resolution / fps.
lastly, for each camera type, there is a single .so dynamic library (for example com.qti.sensor.imx678.so) which contains functions for converting desired exposure and gain values into the register values that need to be sent to the camera.
With all of this in mind, renaming a sensormodule.bin should achieve nothing because the actual id / number at the end of the file is not used for the camera ID parameter, it is only used for differentiating the files.
If there is still an outstanding request to connect IMX678 camera to a port that is currently not supported, please let us know, we can generate and test the new sensormodule.bin files and release them (assuming there are no other unexpected issues)
Alex
