@jonathankampia ,

In order to debug the PX4 modules that run on the DSP side of VOXL, you should run voxl-px4 in interactive mode, such as:

• stop voxl-px4 service : systemctl stop voxl-px4
• run voxl-px4 in foreground with daemon mode disabled : voxl-px4 -d

Then you should be able to run qshell vectornav ... command and see its output. If you just run px4-qshell from command line, the prints from the dsp do not propagate back to the user.

Another alternative is to use (sudo) mini-dm (on your linux host that is connected to VOXL2 via ADB) which allows you to see low level messages from the dsp (mini-dm is a tool that is available in Hexagon SDK).

Now, regarding integration of a new driver with the DSP, I am assuming you were able to enable the module to build for the DSP, but it's running correctly because the device is not recognized. This is because in order to use the DSP uart in PX4, you need to call voxl-specific functions to open, read, write on the DSP port. Please take a look how this integration is done in the gps driver : https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/gps/gps.cpp , specifically looking at #ifdef __PX4_QURT and similar conditionals.

Alex

@Rowan-Dempster , sure, that would be helpful. I don't see any issues with merging that in, since if we do it right, it will not affect 64 bit build at all and will only add limited support for 32 bit -- limited, meaning, for clients only, cannot allocate new buffers.

i will check with the team today to make sure we are all good, so perhaps you should wait for that.

Alex

@Rowan-Dempster , nice! I am glad it worked.

i think the issue here is that we have changed the struct definition (of the ion buffer type), which should not be changed for the 64-bit library. So until we hopefully mainline this, you can just manually copy the 32-bit libmodal-pipe.so into /usr/lib/ (while the original 64-bit version will remain in /usr/lib64). Did you try that?

For mainlining this, i think we will need to do a #ifdef 32 bit and insert the allignment dummy bytes as well as bypassing the ion allocation functions, which require libgbm.so.. You could try that change as well, just need to figure out how to detect 64 vs 32 bit in the few source files that we changed.

Alex

@Muqing-Cao In the voxl-vision-hub configuration file /etc/modalai/voxl-vision-hub.conf how is the parameter en_vio set?

@leandro , documentation for M0187 has been updated to include the 3D CAD file :

https://docs.modalai.com/M0187/#3d-drawings

Alex

Hi @rpowerscat ,

You may be looking for these?

• https://docs.modalai.com/vtx-air-unit-datasheet/
• https://docs.modalai.com/vrx-ground-unit-datasheet/

Will check availability and get back to you..

Alex

Hello @namanthaker,

We typically do not provide the register configurations for the cameras because the camera drivers may contain confidential information from other sources.

However, the IMX664 camera is integrated with VOXL2, which can be used for testing and experimentation.

By the way, the camera drivers for VOXL2 are not contained in kernel modules, but in sensormodule binaries, which are loaded by the camera pipeline (just FYI). I am not aware of any way of extracting the register settings from those binaries.

Alex

Hi @Rowan-Dempster ,

I made a few changes (based on your branches) to libmodal-pipe and the 32-bit tools and now it seems to be working without any run time errors from the test tools or 64bit camera server:

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/tree/ion-32bit-test
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/tree/ion-32bit-test

The issue in libmodal-pipe was with a struct size difference for 32 / 64 bit systems.

Please note that when you build libmodal pipe, do not deploy the 64bit version to voxl2 as it will break things. Later we will need to fix this up so the struct padding is platform dependent.

voxl-image-repub is working now . I had to disable the FD caching due to a strange issue (segfault) when inserting into std::map. Did not investigate why that happened. Without duplicating the FD (using the original FD in the callback, everything works). Also the 32-bit version of voxl-inspect-ion-stream works as expected.

Feel free to test this out. If you don't find any more issues, we can try to mainline this change after cleanup. I am a bit concerned that std::map insert failed, but it is possible this is because i am using the latest voxl-cross to build the app, but my test board is running on old SDK (and there could have been a c++ runtime libs update sometime in the recent voxl-cross).

Alex

@voxltester That is not a normal option to choose via voxl-px4.conf. You will need to hand modify the startup script /usr/bin/voxl-px4-start to properly start the driver in i2c mode. Use option -b 4 to select that i2c bus.