Low Latency IMX412 Driver

Matthew Wellner

@Alex-Kushleyev I updated to 1.4.1 and I have an IMX412 attached to port J7 upper.

Contents of /usr/lib/camera:

ls -la /usr/lib/camera/
total 5840
drwxr-xr-x  3 root root   4096 Apr 23 15:35 .
drwxr-xr-x 69 root root  24576 Apr 22 17:15 ..
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.eeprom.cmk_imx577.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.ar0144.so
-rwxr-xr-x  1 root root   5808 Nov 11 22:27 com.qti.sensor.boson.so
-rwxr-xr-x  1 root root   5816 Nov 11 22:27 com.qti.sensor.cmk_imx577.so
-rwxr-xr-x  1 root root   5816 Nov 11 22:27 com.qti.sensor.cmk_imx577_flip.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.imx214.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.imx214_flip.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.imx335.so
-rwxr-xr-x  1 root root   5808 Nov 11 22:27 com.qti.sensor.imx377.so
-rwxr-xr-x  1 root root   8360 Apr 22 20:16 com.qti.sensor.imx412_fpv.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.imx664.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.imx678.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.imx678_flip.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.imx678_mod.so
-rwxr-xr-x  1 root root   5808 Nov 11 22:27 com.qti.sensor.irs1645.so
-rwxr-xr-x  1 root root   5808 Nov 11 22:27 com.qti.sensor.irs2975c.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.ov64b40.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.ov7251.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov7251_front_left.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov7251_front_left_flip.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov7251_front_right.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov7251_front_right_flip.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov7251_fsin.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov7251_fsout.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov7251_rear_left.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov7251_rear_left_flip.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov7251_rear_right.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov7251_rear_right_flip.so
-rwxr-xr-x  1 root root   9904 Nov 11 22:27 com.qti.sensor.ov9782.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov9782_front_left.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov9782_front_left_flip.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov9782_front_right.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov9782_front_right_flip.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov9782_rear_left.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov9782_rear_left_flip.so
-rwxr-xr-x  1 root root   9912 Nov 11 22:27 com.qti.sensor.ov9782_rear_right.so
-rwxr-xr-x  1 root root   9920 Nov 11 22:27 com.qti.sensor.ov9782_rear_right_flip.so
-rw-r--r--  1 root root 149272 Apr 23 15:35 com.qti.sensormodule.imx214_3.bin
-rw-r--r--  1 root root 957344 Nov 11 22:27 com.qti.tuned.cmk_imx577.bin
-rw-r--r--  1 root root 835464 Nov 11 22:27 com.qti.tuned.cmk_ov9282.bin
-rw-r--r--  1 root root 931864 Nov 11 22:27 com.qti.tuned.default.bin
-rw-r--r--  1 root root 957344 Nov 11 22:27 com.qti.tuned.imx412_fpv.bin
-rw-r--r--  1 root root 793816 Nov 11 22:27 com.qti.tuned.ov9782.bin
-rw-r--r--  1 root root 882376 Nov 11 22:27 com.qti.tuned.sony_imx335.bin
drwxr-xr-x  2 root root   4096 Nov 11 22:41 components

voxl-camera-server -l crashes similarly to when I try to run the server normally (it just exits and logcat has the same output as above)

If I run "voxl-camera-server -d 0" it says that it doesn't recognize any cameras.

fsync_en:            0
fsync_gpio:          109
=================================================================
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 0

VERBOSE: cci-direct: using voxl_platform_mod config 0 layout
ERROR:   Found zero cameras connected, need at least one.

Matthew Wellner

@Alex-Kushleyev I moved the low latency .bin files into /usr/share/modalai/chi-cdk/imx412-fpv/ and the .so file into /usr/lib/camera. Was I not supposed to do that?

Alex Kushleyev

@Matthew-Wellner , both the .so and sensormodule(s) files need to go to /usr/lib/camera !

/usr/share/modalai/chi-cdk is used to store all the camera drivers that we ship with the SDK, but they are not used from this location. You either need to copy the correct sensormodule files from chi-cdk location into /usr/lib/camera/ or run voxl-configure-cameras script, which will do it based on a standard config.

Sorry for the confusion.

Alex

Matthew Wellner

@Alex-Kushleyev I fixed the drivers and got back to the issue I was having where the voxl-camera-server would just die after a short time. Here is the output from voxl-camera-server -d 0:

voxl2:/$ voxl-camera-server -d 0
detected system image 1.8.2
using new imx412 defaults
=================================================================
configuration for 1 cameras:

cam #0
    name:                hires
    sensor type:         imx412
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 60
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           4040
    pre_height:          3040
    en_raw_preview:      1

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      0
    large_video_width:   4208
    large_video_height:  3120

    en_misp:             0
    misp_width:          -1
    misp_height:         -1

    en_snapshot:         0
    snap_width:          4208
    snap_height:         3120
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

VERBOSE: cci-direct: using voxl_platform_mod config 0 layout
DEBUG:   Cam idx: 0, Cam slot: 3, Slave Address: 0x0034, Sensor Id: 0x0577
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
DEBUG:   ------ voxl-camera-server: Starting 1 cameras
Starting Camera: hires (id #0)
DEBUG:   Checking Gain limits for Camera: hires
DEBUG:   Using gain limits min: 100 max: 8000
DEBUG:   cam ID 0 checking for fmt:   37  w: 4040 h: 3040 o:   0
DEBUG:   	==> option   0: format= 34 width=4056 height=3040 is_input=0
DEBUG:   	==> option   4: format= 34 width=4056 height=3040 is_input=1
DEBUG:   	==> option   8: format= 35 width=4056 height=3040 is_input=0
...
DEBUG:   	==> option 568: format= 32 width=1996 height= 240 is_input=0
DEBUG:   	==> option 572: format= 36 width=1996 height= 240 is_input=0
VERBOSE: Successfully found configuration match for camera 0: 4040x3040
DEBUG:   cam ID 0 checking for fmt:   35  w: 1024 h:  768 o:   0
DEBUG:   	==> option   0: format= 34 width=4056 height=3040 is_input=0
DEBUG:   	==> option   4: format= 34 width=4056 height=3040 is_input=1
...
DEBUG:   	==> option 572: format= 36 width=1996 height= 240 is_input=0
VERBOSE: Successfully found configuration match for camera 0: 1024x768
VERBOSE: Adding preview stream for camera: 0
VERBOSE: Adding small video stream for camera: 0
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
VERBOSE: Opened GBM fd
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Created GBM device
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=62 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=64 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=66 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=68 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=70 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=72 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=74 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   		Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=76 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=78 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=80 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=82 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=84 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=86 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=88 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=90 vaddr=0x55941b5000
DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
DEBUG:   Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=92 vaddr=0x55941b5000
DEBUG:   Successfully set up pipeline for stream: PREVIEW
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=94 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=96 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=98 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=100 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=102 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=104 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=106 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=108 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=110 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=112 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=114 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=116 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=118 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=120 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=122 vaddr=0x7fe2a813a0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=124 vaddr=0x7fe2a813a0
DEBUG:   Available color formats for OMX:
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04)
DEBUG:   	OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00)
DEBUG:   	Unknown (0x7fa30c09)
DEBUG:   	Unknown (0x7fa30c0a)
DEBUG:   	Unknown (0x7fa30c08)
DEBUG:   	Unknown (0x7fa30c07)
DEBUG:   	OMX_COLOR_FormatAndroidOpaque (0x7f000789)
DEBUG:   	OMX_COLOR_FormatYUV420SemiPlanar (0x15)
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   Port Def 0:
	Count Min: 16
	Count Actual: 16
	Size: 0x10
	Buffers Contiguous: Yes
	Buffer Alignment: 0
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   Port Def 1:
	Count Min: 12
	Count Actual: 16
	Size: 0xb40000
	Buffers Contiguous: No
	Buffer Alignment: 0
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   Encoder moved to Idle State
DEBUG:   OMX_EventCmdComplete
DEBUG:   Encoder moved to Executing State
DEBUG:   Successfully set up pipeline for stream: STREAM_SMALL_VID
VERBOSE: Entered thread: cam0-request(tid: 4083)
VERBOSE: Entered thread: cam0-result(tid: 4084)
DEBUG:   Started Camera: hires

------ voxl-camera-server: Started 1 of 1 cameras

------ voxl-camera-server: Camera server is now running
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 0 for camera hires for 2 streams
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: finished sending request for frame 0 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 1 for camera hires for 2 streams
VERBOSE: finished sending request for frame 1 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 2 for camera hires for 2 streams
VERBOSE: finished sending request for frame 2 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 3 for camera hires for 2 streams
VERBOSE: finished sending request for frame 3 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 4 for camera hires for 2 streams
VERBOSE: finished sending request for frame 4 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 5 for camera hires for 2 streams
VERBOSE: finished sending request for frame 5 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera hires
VERBOSE: added request for small video stream
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 6 for camera hires for 2 streams
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera hires, partial result:1
DEBUG:   Value of standby_active is: 0 
DEBUG:   Value of standby_active is: 0 
DEBUG:   Value of standby_active is: 0 
DEBUG:   Value of standby_active is: 0 
DEBUG:   Value of standby_active is: 0 
Aborted
voxl2:/$

Alex Kushleyev

@Matthew-Wellner , thanks, that is looking better.

Now, two questions..

which version of the IMX412 drivers are you using now?
does the error still happen if you change the FPS to 30? what about 50?

Alex

Matthew Wellner

@Alex-Kushleyev

I downloaded and installed the low latency drivers found on the low latency tutorial page -> https://docs.modalai.com/camera-video/low-latency-video-streaming/
Yes it still occurs for... 30, 50, 60, & 90

Thanks again for the help!

Alex Kushleyev

@Matthew-Wellner,

Is any configuration at all working? I wonder if this is a hardware issue.

I will set up the exact use case and test. By the way i have recently updated the instructions you are referencing with updated imx412 drivers, so please double check the date on the driver zip file. Meanwhile, can you also post dmesg output after the camera server aborts? This can help spot a hardware issue.

Alex

Matthew Wellner

@Alex-Kushleyev - Thanks again!

Here is the output from /var/log/syslog when I run "voxl-camera-server -l":

Apr 24 13:55:58 m0054 kernel: [68157.917569] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68157.917657] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 24 13:55:58 m0054 kernel: [68157.946997] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 13:55:58 m0054 kernel: [68157.947039] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
Apr 24 13:55:58 m0054 kernel: [68157.947042] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 13:55:58 m0054 kernel: [68157.947044] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 13:55:58 m0054 kernel: [68157.947118] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 24 13:55:58 m0054 kernel: [68157.950956] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 24 13:55:58 m0054 kernel: [68157.950973] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 24 13:55:58 m0054 kernel: [68157.976036] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
Apr 24 13:55:58 m0054 kernel: [68157.976121] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
Apr 24 13:55:58 m0054 kernel: [68157.976135] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68157.976219] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.005077] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base:        pK-error, M0_Q1 NACK ERROR: 0x10000000
Apr 24 13:55:58 m0054 kernel: [68158.005148] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 13:55:58 m0054 kernel: [68158.005150] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 13:55:58 m0054 kernel: [68158.005151] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 13:55:58 m0054 kernel: [68158.005152] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 13:55:58 m0054 kernel: [68158.006941] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.006950] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.006982] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
Apr 24 13:55:58 m0054 kernel: [68158.032566] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
Apr 24 13:55:58 m0054 kernel: [68158.032721] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.032773] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.032908] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.047391] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 13:55:58 m0054 kernel: [68158.047453] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 13:55:58 m0054 kernel: [68158.047460] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 13:55:58 m0054 kernel: [68158.047463] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 13:55:58 m0054 kernel: [68158.047466] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 13:55:58 m0054 kernel: [68158.071859] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
Apr 24 13:55:58 m0054 kernel: [68158.071964] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.072012] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.072156] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.086849] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base:        pK-error, M0_Q1 NACK ERROR: 0x10000000
Apr 24 13:55:58 m0054 kernel: [68158.087102] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.111682] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 24 13:55:58 m0054 kernel: [68158.111767] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.111807] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.111928] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.126905] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x34,sensor_id:0x577
Apr 24 13:55:58 m0054 kernel: [68158.126957] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 24 13:55:58 m0054 kernel: [68158.129028] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.129054] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.129093] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 24 13:55:58 m0054 kernel: [68158.142057] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59
Apr 24 13:55:58 m0054 kernel: [68158.142146] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60
Apr 24 13:55:58 m0054 kernel: [68158.142191] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55
Apr 24 13:55:58 m0054 kernel: [68158.142399] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79
Apr 24 13:55:59 m0054 kernel: [68158.157433] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 13:55:59 m0054 kernel: [68158.157491] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 13:55:59 m0054 kernel: [68158.157496] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 13:55:59 m0054 kernel: [68158.157498] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 13:55:59 m0054 kernel: [68158.157502] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 13:55:59 m0054 kernel: [68158.157592] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.79
Apr 24 13:55:59 m0054 kernel: [68158.159023] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.55
Apr 24 13:55:59 m0054 kernel: [68158.159056] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.60
Apr 24 13:55:59 m0054 kernel: [68158.183788] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.59
Apr 24 13:55:59 m0054 kernel: [68158.183871] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.60
Apr 24 13:55:59 m0054 kernel: [68158.183911] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.55
Apr 24 13:55:59 m0054 kernel: [68158.184037] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.79
Apr 24 13:55:59 m0054 kernel: [68158.198670] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 13:55:59 m0054 kernel: [68158.198737] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 13:55:59 m0054 kernel: [68158.198740] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 13:55:59 m0054 kernel: [68158.198742] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 13:55:59 m0054 kernel: [68158.198745] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 13:55:59 m0054 kernel: [68158.198801] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.79
Apr 24 13:55:59 m0054 kernel: [68158.239903] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

I'll wait for your feedback, but I can try reinstalling the drivers from your tutorial and if that doesn't work, I can reflash the SDK as well.

Alex Kushleyev

@Matthew-Wellner , so this looks fine, what about dmesg when you don't use -l (just voxl-camera-server), so that we see the dmesg prints when camera server aborts.

Matthew Wellner

@Alex-Kushleyev Here is the output from dmesg when I run the voxl-camera-server:

Apr 24 19:31:55 m0054 tailscaled[1610]: netcheck: DetectCaptivePortal(found=false)


Apr 24 19:32:14 m0054 kernel: [88334.080488] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
Apr 24 19:32:24 m0054 kernel: [88344.643537] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
Apr 24 19:32:25 m0054 kernel: [88344.720291] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.745479] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
Apr 24 19:32:25 m0054 kernel: [88344.745482] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.745488] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.745494] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:
Apr 24 19:32:25 m0054 kernel: [88344.745595] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.748968] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.774119] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
Apr 24 19:32:25 m0054 kernel: [88344.774208] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.774231] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.774316] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.798756] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base:        pK-error, M0_Q1 NACK ERROR: 0x10000000
Apr 24 19:32:25 m0054 kernel: [88344.798828] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 19:32:25 m0054 kernel: [88344.798832] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.798838] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.798843] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 19:32:25 m0054 kernel: [88344.798949] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.801095] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.801128] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.801171] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
Apr 24 19:32:25 m0054 kernel: [88344.825623] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
Apr 24 19:32:25 m0054 kernel: [88344.825737] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.825780] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.825906] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.840658] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 19:32:25 m0054 kernel: [88344.840730] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 19:32:25 m0054 kernel: [88344.840735] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.840737] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.840740] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 19:32:25 m0054 kernel: [88344.840800] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.842876] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.842906] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.842943] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
Apr 24 19:32:25 m0054 kernel: [88344.865869] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.866000] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.866043] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.866171] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.880067] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base:        pK-error, M0_Q1 NACK ERROR: 0x10000000
Apr 24 19:32:25 m0054 kernel: [88344.880100] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 19:32:25 m0054 kernel: [88344.880104] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.880106] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.880109] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 19:32:25 m0054 kernel: [88344.880163] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.881467] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.881498] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.881538] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.905689] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.905829] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.905874] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.906009] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.920664] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x34,sensor_id:0x577
Apr 24 19:32:25 m0054 kernel: [88344.920718] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.922792] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.922822] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.922861] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.935529] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.935651] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.935696] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.936089] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.950853] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 19:32:25 m0054 kernel: [88344.950884] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 19:32:25 m0054 kernel: [88344.950890] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.950893] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.950897] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 19:32:25 m0054 kernel: [88344.950969] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.953024] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.953077] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.977985] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88344.978070] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.978115] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.978240] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.992921] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 24 19:32:25 m0054 kernel: [88344.993008] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 24 19:32:25 m0054 kernel: [88344.993045] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 24 19:32:25 m0054 kernel: [88344.993048] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 24 19:32:25 m0054 kernel: [88344.993050] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 24 19:32:25 m0054 kernel: [88344.993117] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.79
Apr 24 19:32:25 m0054 kernel: [88344.995197] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.55
Apr 24 19:32:25 m0054 kernel: [88344.995226] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.60
Apr 24 19:32:25 m0054 kernel: [88344.995271] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.59
Apr 24 19:32:25 m0054 kernel: [88345.040157] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 24 19:32:25 m0054 kernel: [88345.040247] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 24 19:32:25 m0054 kernel: [88345.040267] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 24 19:32:25 m0054 kernel: [88345.040362] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 24 19:32:25 m0054 kernel: [88345.054061] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
Apr 24 19:32:25 m0054 kernel: [88345.055287] CAM_INFO: CAM-HFI: cam_hfi_resume: 679 Resume IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
Apr 24 19:32:25 m0054 kernel: [88345.085767] msm_vidc:   high: 00000001: ....e: Opening video instance: ffffffd908ed6000, 0
Apr 24 19:32:25 m0054 kernel: [88345.361053] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:6 IPP resource not available
Apr 24 19:32:25 m0054 kernel: [88345.361057] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:5 IPP resource not available
Apr 24 19:32:25 m0054 kernel: [88345.361059] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:4 IPP resource not available
Apr 24 19:32:25 m0054 kernel: [88345.361061] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available
Apr 24 19:32:25 m0054 kernel: [88345.361062] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available
Apr 24 19:32:25 m0054 kernel: [88345.361091] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [9 pix] [0 pd] [1 rdi] ports for ctx:9
Apr 24 19:32:25 m0054 kernel: [88345.365802] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 3, Device_slot: 0, Datarate: 2500000000, Settletime: 2200000000
Apr 24 19:32:25 m0054 kernel: [88345.374728] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
Apr 24 19:32:25 m0054 kernel: [88345.374732] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
Apr 24 19:32:25 m0054 kernel: [88345.374879] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 0000000013f5b900
Apr 24 19:32:25 m0054 kernel: [88345.376000] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server51691034" with id 0 has disconnected from channel 0
Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server88398822" connected to channel 0  with client id 0
Apr 24 19:32:30 m0054 kernel: [88350.083476] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  0 fd 130 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083481] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  1 fd 132 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083482] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  2 fd 134 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083484] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  3 fd 136 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083485] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  4 fd 138 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083486] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  5 fd 140 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083487] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  6 fd 142 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083488] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  7 fd 144 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083489] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  8 fd 146 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083490] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  9 fd 148 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083491] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 10 fd 150 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083492] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 11 fd 152 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083493] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 12 fd 154 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083494] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 13 fd 156 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083495] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 14 fd 158 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083496] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 15 fd 160 off 0 size 884736 filled 0
Apr 24 19:32:30 m0054 kernel: [88350.083500] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  0 fd 130 off 0 daddr dfb00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083511] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  1 fd 132 off 0 daddr dfa00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083515] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  2 fd 134 off 0 daddr df900000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083519] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  3 fd 136 off 0 daddr df800000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083522] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  4 fd 138 off 0 daddr df700000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083525] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  5 fd 140 off 0 daddr df600000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083528] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  6 fd 142 off 0 daddr df500000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083532] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  7 fd 144 off 0 daddr df400000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083534] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  8 fd 146 off 0 daddr df300000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083537] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  9 fd 148 off 0 daddr df200000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083540] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 10 fd 150 off 0 daddr df100000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083543] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 11 fd 152 off 0 daddr df000000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083546] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 12 fd 154 off 0 daddr def00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083549] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 13 fd 156 off 0 daddr dee00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083552] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 14 fd 158 off 0 daddr ded00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 kernel: [88350.083554] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 15 fd 160 off 0 daddr dec00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 24 19:32:30 m0054 voxl-portal[1760]: ERROR in pipe_client_open opening request pipe: No such device or address
Apr 24 19:32:30 m0054 voxl-portal[1760]: Most likely the server stopped without cleaning up
Apr 24 19:32:30 m0054 voxl-portal[1760]: Client is cleaning up pipes for the server
Apr 24 19:32:30 m0054 voxl-portal[1760]: ERROR in pipe_client_open opening request pipe: No such device or address
Apr 24 19:32:30 m0054 voxl-portal[1760]: Most likely the server stopped without cleaning up
Apr 24 19:32:30 m0054 voxl-portal[1760]: Client is cleaning up pipes for the server
Apr 24 19:32:30 m0054 kernel: [88350.096208] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 24 19:32:30 m0054 kernel: [88350.098251] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 24 19:32:30 m0054 kernel: [88350.098263] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 24 19:32:30 m0054 kernel: [88350.098279] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 24 19:32:30 m0054 kernel: [88350.106121] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 1
Apr 24 19:32:30 m0054 kernel: [88350.106122] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 24 19:32:30 m0054 kernel: [88350.106123] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 24 19:32:30 m0054 kernel: [88350.106124] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 24 19:32:30 m0054 kernel: [88350.106125] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 3
Apr 24 19:32:30 m0054 kernel: [88350.106127] CAM_ERR: CAM-ISP: __cam_isp_ctx_release_dev_in_top_state: 3789 releasing hw
Apr 24 19:32:30 m0054 kernel: [88350.106156] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
Apr 24 19:32:30 m0054 kernel: [88350.106286] CAM-REQ-MGR_UTIL cam_req_mgr_util_free_hdls:99 CAM_WARN: CAM-CRM: cam_req_mgr_util_free_hdls: 99 Dev handle = 5a0103 session_handle = 7e0200
Apr 24 19:32:30 m0054 kernel: [88350.119201] ion_buffer_destroy: 6 callbacks suppressed
Apr 24 19:32:30 m0054 kernel: [88350.119252] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133256] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133270] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133287] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133294] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133358] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133383] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133392] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133401] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:30 m0054 kernel: [88350.133426] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 24 19:32:31 m0054 kernel: [88351.602923] msm_vidc:   err : ffffffff: .....: DBLP Set: status 0

Alex Kushleyev

@Matthew-Wellner , it looks like VOXL2 never gets any frames and after 5 seconds the camera pipeline gives up.

Here is relevant part of your output:

Apr 24 19:32:25 m0054 kernel: [88345.361091] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [9 pix] [0 pd] [1 rdi] ports for ctx:9
Apr 24 19:32:25 m0054 kernel: [88345.365802] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 3, Device_slot: 0, Datarate: 2500000000, Settletime: 2200000000
Apr 24 19:32:25 m0054 kernel: [88345.374728] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
Apr 24 19:32:25 m0054 kernel: [88345.374732] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
Apr 24 19:32:25 m0054 kernel: [88345.374879] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 0000000013f5b900
Apr 24 19:32:25 m0054 kernel: [88345.376000] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server51691034" with id 0 has disconnected from channel 0
Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server88398822" connected to channel 0  with client id 0
Apr 24 19:32:30 m0054 kernel: [88350.083476] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  0 fd 130 off 0 size 884736 filled 0

Note at 25 second mark, the camera is commanded to stream (then a few messages related to camera server pipes), but then at 30 second mark, the camera pipeline collapse starts (timeout).

Here is my ouputput:

[ 2075.623593] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [9 pix] [0 pd] [1 rdi] ports for ctx:0
[ 2075.632136] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 1, Device_slot: 0, Datarate: 2500000000, Settletime: 2200000000
[ 2075.642983] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 2075.642990] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 2075.643255] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000e4fe1a70
[ 2075.647168] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
[ 2075.655208] CAM_INFO: CAM-ISP: __cam_isp_ctx_sof_in_epoch: 1660 First SOF in EPCR ctx:2 frame_id:1 next substate EPOCH

Note that there is a message that the First SOF (Start Of Frame) has been received, and streaming works fine.

Can you please provide more information about your hardware:

Specific camera module used (such as M0107, M0161)
how are you connecting the camera to VOXL2 (all components between VOXL2 and Camera)
it seems the camera is connected in slot 3 (VOXL2 J7U) - please confirm
it seems you are using kernel config 0 (no M0173 camera front end) - please confirm.

It is possible that if you are using an extension flex (I am guessing M0107 camera with M0036 15cm extension flex), some flexes may have high speed issues and the latest IMX412 drivers are running at the maximum MIPI rate (in this case 2.2Gbps), which may be pushing past the performance of the flex.

Both versions of the IMX412 drivers that were posted on the Low Latency Streaming page were using 2.1Gbps speeds (and 2.2Gbps in one mode). However, the default drivers shipped with the SDK use 1.5Gbps (ones found in /usr/share/modalai/chi-cdk/imx412).

If you want to try the slower drivers, you can make a small change in your config:

remove the existing sensormodules from /usr/lib/camera/
copy com.qti.sensormodule.imx412_3.bin from /usr/share/modalai/chi-cdk/imx412 to /usr/lib/camera
modify /etc/modalai/voxl-camera-server.conf as follows:
- set en_preview to false
this should just enable one small encoded stream and the camera pipeline will choose some camera source resolution to satisfy 60fps and the resolution of your encoded stream.

I just tried this on my set up and was able to get small encoded stream at 60fps with pretty low latency:

|                Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
| hires_down_small_encoded |    8976 | 1024 |  768 |  5.26 |  800 |     1000 |     23.2  | 60.0 |    4.2 | H264 (P)

Lets try to get back to a configuration that works

Matthew Wellner

@Alex-Kushleyev

Here is what I am running:

M0107 (purchased 12/2023 just in case there were any issues with older versions)
I am using a flex cable connected to J7U directly to the camera (I haven't moved any hardware around except for adding a wifi USB adapter for some testing that I am doing)
Yes
Yes

I followed the procedure to swap out the drivers and I am still seeing the voxl-camera-server die... Did I need to remove the .so file in /usr/lib/camera as well?

Apr 25 15:57:00 m0054 kernel: [161821.673062] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
Apr 25 15:57:00 m0054 kernel: [161821.683296] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
Apr 25 15:57:00 m0054 kernel: [161821.683304] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079,OEM_IMAGE_VERSION_STRING=CRM,BUILD_TIME: Oct 17 2019 05:49:19,CACHE_ENABLED at icphostinterface.c:636 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
Apr 25 15:57:00 m0054 kernel: [161821.683308] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :ELF variant: CACHE-ENABLED:T480:API_V2:USE_CDM_1_1: , API version: 0x2000049 at icphostinterface.c:637 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
Apr 25 15:57:00 m0054 kernel: [161821.724105] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 25 15:57:00 m0054 kernel: [161821.724169] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 25 15:57:00 m0054 kernel: [161821.724234] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 25 15:57:00 m0054 kernel: [161821.724261] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 25 15:57:00 m0054 kernel: [161821.748891] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 25 15:57:00 m0054 kernel: [161821.751009] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
Apr 25 15:57:00 m0054 kernel: [161821.751011] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 25 15:57:00 m0054 kernel: [161821.751013] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 25 15:57:00 m0054 kernel: [161821.751016] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:
Apr 25 15:57:00 m0054 kernel: [161821.751091] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 25 15:57:00 m0054 kernel: [161821.805664] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x34,sensor_id:0x577
Apr 25 15:57:00 m0054 kernel: [161821.805730] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 25 15:57:00 m0054 kernel: [161821.807790] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 25 15:57:00 m0054 kernel: [161821.807800] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 25 15:57:00 m0054 kernel: [161821.807820] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 25 15:57:00 m0054 kernel: [161821.825950] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 25 15:57:00 m0054 kernel: [161821.826027] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 25 15:57:00 m0054 kernel: [161821.826043] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 25 15:57:00 m0054 kernel: [161821.826121] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 25 15:57:00 m0054 kernel: [161821.840661] CAM_INFO: CAM-HFI: cam_hfi_resume: 679 Resume IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
Apr 25 15:57:00 m0054 kernel: [161821.840851] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
Apr 25 15:57:00 m0054 kernel: [161821.870871] msm_vidc:   high: 00000001: ....e: Opening video instance: ffffffd8fc0d2000, 0
Apr 25 15:57:00 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server74194795" with id 0 has disconnected from channel 0
Apr 25 15:57:00 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server94269699" connected to channel 0  with client id 0
Apr 25 15:57:00 m0054 kernel: [161822.302893] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:6 IPP resource not available
Apr 25 15:57:00 m0054 kernel: [161822.302896] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:5 IPP resource not available
Apr 25 15:57:00 m0054 kernel: [161822.302898] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:4 IPP resource not available
Apr 25 15:57:00 m0054 kernel: [161822.302899] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available
Apr 25 15:57:00 m0054 kernel: [161822.302901] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available
Apr 25 15:57:00 m0054 kernel: [161822.302926] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [11 pix] [0 pd] [0 rdi] ports for ctx:1
Apr 25 15:57:00 m0054 kernel: [161822.325127] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4855 CSID:1 lane 1 over flow
Apr 25 15:57:00 m0054 kernel: [161822.325132] CAM_INFO: CAM-ISP: cam_ife_csid_halt_csi2: 1931 CSID: 1 cnt: 1 Halt csi2 rx
Apr 25 15:57:00 m0054 kernel: [161822.325141] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 0 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325144] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 1 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325146] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 2 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325149] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 3 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325154] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 103 PHY base addr=        pK-error offset=0x8b0 size=11
Apr 25 15:57:00 m0054 kernel: [161822.325160] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR0 = 0x14
Apr 25 15:57:00 m0054 kernel: [161822.325164] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR1 = 0x0
Apr 25 15:57:00 m0054 kernel: [161822.325169] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR2 = 0x80
Apr 25 15:57:00 m0054 kernel: [161822.325173] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR3 = 0x22
Apr 25 15:57:00 m0054 kernel: [161822.325178] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR4 = 0x0
Apr 25 15:57:00 m0054 kernel: [161822.325183] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR5 = 0x50
Apr 25 15:57:00 m0054 kernel: [161822.325187] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR6 = 0x0
Apr 25 15:57:00 m0054 kernel: [161822.325192] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR7 = 0x0
Apr 25 15:57:00 m0054 kernel: [161822.325197] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR8 = 0xa
Apr 25 15:57:00 m0054 kernel: [161822.325201] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR9 = 0x40
Apr 25 15:57:00 m0054 kernel: [161822.325206] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR10 = 0x4
Apr 25 15:57:00 m0054 kernel: [161822.325209] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 4 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325211] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 5 CSIPHY index: 3
Apr 25 15:57:00 m0054 kernel: [161822.325265] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4616 idx 1 err 5 phy 3  lane type:0 ln num:4 ln cfg:0x3210 cnt 1
Apr 25 15:57:00 m0054 kernel: [161822.325271] cam_csid_evt_bottom_half_handler: 1 callbacks suppressed
Apr 25 15:57:00 m0054 kernel: [161822.325280] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI0: 0
Apr 25 15:57:00 m0054 kernel: [161822.325285] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI1: 0
Apr 25 15:57:00 m0054 kernel: [161822.325294] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI2: 0
Apr 25 15:57:00 m0054 kernel: [161822.325303] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI3: 0
Apr 25 15:57:01 m0054 kernel: [161823.383488] msm_vidc:   err : ffffffff: .....: DBLP Set: status 0
Apr 25 15:57:05 m0054 kernel: [161827.032884] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  0 fd 96 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032888] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  1 fd 98 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032890] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  2 fd 100 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032891] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  3 fd 102 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032893] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  4 fd 104 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032894] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  5 fd 106 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032895] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  6 fd 108 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032897] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  7 fd 110 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032898] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  8 fd 112 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032899] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx  9 fd 114 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032901] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 10 fd 116 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032902] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 11 fd 118 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032903] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 12 fd 120 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032905] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 13 fd 122 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032906] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 14 fd 124 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032907] msm_vidc:   err : 00000001: h265e: undequeud vb2: CAPTURE: idx 15 fd 126 off 0 size 884736 filled 0
Apr 25 15:57:05 m0054 kernel: [161827.032910] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  0 fd 96 off 0 daddr dfb00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032921] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  1 fd 98 off 0 daddr dfa00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032925] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  2 fd 100 off 0 daddr df900000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032929] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  3 fd 102 off 0 daddr df800000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032932] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  4 fd 104 off 0 daddr df700000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032936] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  5 fd 106 off 0 daddr df600000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032939] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  6 fd 108 off 0 daddr df500000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032942] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  7 fd 110 off 0 daddr df400000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032944] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  8 fd 112 off 0 daddr df300000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032947] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx  9 fd 114 off 0 daddr df200000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032952] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 10 fd 116 off 0 daddr df100000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032955] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 11 fd 118 off 0 daddr df000000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032958] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 12 fd 120 off 0 daddr def00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032960] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 13 fd 122 off 0 daddr dee00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032963] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 14 fd 124 off 0 daddr ded00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 kernel: [161827.032965] msm_vidc:   err : 00000001: h265e: undequeud buf: CAPTURE: idx 15 fd 126 off 0 daddr dec00000 size 884736 filled 0 flags 0x0 ts 0 refcnt 2 mflags 0x1
Apr 25 15:57:05 m0054 voxl-portal[1760]: ERROR in pipe_client_open opening request pipe: No such device or address
Apr 25 15:57:05 m0054 kernel: [161827.035402] msm_vidc:   err : 00000001: h265e: State not recognized
Apr 25 15:57:05 m0054 kernel: [161827.035404] msm_vidc:   err : 00000001: h265e: Failed to move from state: 16 to 13
Apr 25 15:57:05 m0054 kernel: [161827.035408] msm_vidc:   err : 00000001: h265e: msm_comm_kill_session: no session to kill for inst ffffffd8fc0d2000
Apr 25 15:57:05 m0054 kernel: [161827.035409] msm_vidc:   err : 00000001: h265e: Failed to move inst: ffffffd8fc0d2000 to state 13
Apr 25 15:57:05 m0054 kernel: [161827.035412] msm_vidc:   err : 00000001: h265e: Failed STOP Streaming inst = ffffffd8fc0d2000 on cap = 9
Apr 25 15:57:05 m0054 kernel: [161827.035457] msm_vidc:   high: 00000001: h265e: Closed video instance: ffffffd8fc0d2000
Apr 25 15:57:05 m0054 voxl-portal[1760]: Most likely the server stopped without cleaning up
Apr 25 15:57:05 m0054 voxl-portal[1760]: Client is cleaning up pipes for the server
Apr 25 15:57:05 m0054 kernel: [161827.044477] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 25 15:57:05 m0054 kernel: [161827.045822] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 25 15:57:05 m0054 kernel: [161827.045834] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 25 15:57:05 m0054 kernel: [161827.045850] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 25 15:57:05 m0054 kernel: [161827.053512] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 5
Apr 25 15:57:05 m0054 kernel: [161827.053514] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 5
Apr 25 15:57:05 m0054 kernel: [161827.053515] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053515] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053516] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053517] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053517] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053518] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053518] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 6
Apr 25 15:57:05 m0054 kernel: [161827.053519] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 7
Apr 25 15:57:05 m0054 kernel: [161827.053520] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 9
Apr 25 15:57:05 m0054 kernel: [161827.053521] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 9
Apr 25 15:57:05 m0054 kernel: [161827.053521] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 9
Apr 25 15:57:05 m0054 kernel: [161827.053523] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 10
Apr 25 15:57:05 m0054 kernel: [161827.053524] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 10
Apr 25 15:57:05 m0054 kernel: [161827.053525] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 10
Apr 25 15:57:05 m0054 kernel: [161827.053526] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 11
Apr 25 15:57:05 m0054 kernel: [161827.053528] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 1
Apr 25 15:57:05 m0054 kernel: [161827.053529] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 25 15:57:05 m0054 kernel: [161827.053531] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 25 15:57:05 m0054 kernel: [161827.053532] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 25 15:57:05 m0054 kernel: [161827.053533] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 2
Apr 25 15:57:05 m0054 kernel: [161827.053534] CAM_ERR: CAM-SYNC: cam_sync_signal: 203 Error: accessing an uninitialized sync obj = 3
Apr 25 15:57:05 m0054 kernel: [161827.053536] CAM_ERR: CAM-ISP: __cam_isp_ctx_release_dev_in_top_state: 3789 releasing hw
Apr 25 15:57:05 m0054 kernel: [161827.053549] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 1
Apr 25 15:57:05 m0054 kernel: [161827.053564] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
Apr 25 15:57:05 m0054 kernel: [161827.053591] CAM-REQ-MGR_UTIL cam_req_mgr_util_free_hdls:99 CAM_WARN: CAM-CRM: cam_req_mgr_util_free_hdls: 99 Dev handle = 1e0102 session_handle = e50200
Apr 25 15:57:05 m0054 kernel: [161827.053592] CAM-REQ-MGR_UTIL cam_req_mgr_util_free_hdls:99 CAM_WARN: CAM-CRM: cam_req_mgr_util_free_hdls: 99 Dev handle = 30103 session_handle = e50200
Apr 25 15:57:05 m0054 kernel: [161827.063758] ion_buffer_destroy: 6 callbacks suppressed
Apr 25 15:57:05 m0054 kernel: [161827.063760] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.063802] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.063906] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.063914] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.064018] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.064412] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap
Apr 25 15:57:05 m0054 kernel: [161827.064430] ION client likely missing a call to dma_buf_kunmap or dma_buf_vunmap

Alex Kushleyev

@Matthew-Wellner , you should not remove the com.qti.sensor*.so file .

The error looks the same as before.

Do you have another flex / camera to try? what is between the M0107 and VOXL2 (as you cannot plug them in directly). What flex / adapter(s) ?

Alex

Matthew Wellner

@Alex-Kushleyev

The camera is connected to a smaller flex cable (camera extension flex?) that is connected to the flex cable that plugs into the VOXL2 J7U port. I don't think I have another camera here - I may, but it's definitely not the same camera.

I planned to buy a micro coax cable and adapter board to use on this project, but I planned to validate the low latency setup worked before doing so

I have a second VOXL2 - I might try moving the camera from this setup to the other setup and I'll go through the procedures again to verify I didn't mess up the drivers.

Alex Kushleyev

@Matthew-Wellner , do you have a M0076 or M0135 interposer that you could plug in your short flex cable directly?

Can you please check the part number that is marked on "flex cable that plugs into the VOXL2 J7U port" ? or a picture.

Alex

Matthew Wellner

@Alex-Kushleyev - Sorry for the delay. I have a M0084 that sits between the camera and the VOXL2 on the J7U port. I'm guessing that the dual adapter can cause issues in this application?

Matthew Wellner

@Alex-Kushleyev - I replaced the dual camera adapter with a flex extension and a M0076 interposer to directly connect the camera to J7U and I am getting this output when I run voxl-camera-server:

Apr 28 14:02:13 m0054 kernel: [  308.863682] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
Apr 28 14:02:13 m0054 kernel: [  308.892491] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
Apr 28 14:02:13 m0054 kernel: [  308.902754] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079,OEM_IMAGE_VERSION_STRING=CRM,BUILD_TIME: Oct 17 2019 05:49:19,CACHE_ENABLED at icphostinterface.c:636 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
Apr 28 14:02:13 m0054 kernel: [  308.902765] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
Apr 28 14:02:13 m0054 kernel: [  308.902776] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :ELF variant: CACHE-ENABLED:T480:API_V2:USE_CDM_1_1: , API version: 0x2000049 at icphostinterface.c:637 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
Apr 28 14:02:14 m0054 kernel: [  309.026191] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 28 14:02:14 m0054 kernel: [  309.026286] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 28 14:02:14 m0054 kernel: [  309.026383] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 28 14:02:14 m0054 kernel: [  309.026414] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 28 14:02:14 m0054 kernel: [  309.049655] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 28 14:02:14 m0054 kernel: [  309.049816] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 28 14:02:14 m0054 kernel: [  309.049822] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:
Apr 28 14:02:14 m0054 kernel: [  309.049927] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 28 14:02:14 m0054 kernel: [  309.054006] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 28 14:02:14 m0054 kernel: [  309.054050] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 28 14:02:14 m0054 kernel: [  309.054081] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 28 14:02:14 m0054 kernel: [  309.078537] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
Apr 28 14:02:14 m0054 kernel: [  309.078695] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
Apr 28 14:02:14 m0054 kernel: [  309.078727] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
Apr 28 14:02:14 m0054 kernel: [  309.078858] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
Apr 28 14:02:14 m0054 kernel: [  309.098545] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
Apr 28 14:02:14 m0054 kernel: [  309.099453] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
Apr 28 14:02:14 m0054 kernel: [  309.099460] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
Apr 28 14:02:14 m0054 kernel: [  309.099464] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
Apr 28 14:02:14 m0054 kernel: [  309.099469] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
Apr 28 14:02:14 m0054 kernel: [  309.099549] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
Apr 28 14:02:14 m0054 kernel: [  309.101115] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
Apr 28 14:02:14 m0054 kernel: [  309.101149] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
Apr 28 14:02:14 m0054 kernel: [  309.101183] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
Apr 28 14:02:14 m0054 kernel: [  309.154760] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

Matthew Wellner

@Alex-Kushleyev

So... I replaced the dual camera adapter with the single flex cable connected to the interposer and the camera on J7U. I reflashed the SDK and now I am able to keep the voxl-camera-server up with 30fps. I'll go through the tutorial again and hopefully I'll be good to go.

I also ordered another camera that can use the coax cable instead so that I don't have any cable related issues. I'll post back with how following through the tutorial goes, but thanks again for your help!

Matthew Wellner

@Alex-Kushleyev - It looks like everything is working. Thanks again!

Alex Kushleyev

@Matthew-Wellner , I am glad you got it working! When you used M0076 single camera interposer connected to VOXL2 J7, actually you were connecting to the "lower" camera slot, so that would be J7L, meaning slot ID 2, not 3. That is why your camera was not detected in that case.

Regarding your M0084 not working, it could be a hardware issue in the flex cable or it's connectors. In order to figure this out, some more testing would be needed. Also, typically we suggest avoiding daisy chaining flex cables, so M0076 / M0135 allows you to do just that. It is possible that a combination of M0084 and another extension cable create sufficient signal distortion of the MIPI lines to cause CRC errors.

Alex