VOXL2 didn't detect IMX412 Camera

[ysc]

1. Hardware Configuration

• VOXL2 QRB5165M ( * 2)
• IMX412 camera module (M0107) ( * 2)
• Tested both with and without the extension cable (M0036) ( * 2)
• Using official connectors, ports, and cables

Questions

1. With a direct connection (without an extension cable), given that voxl-camera-server -l detects one camera, but dmesg shows sensor ID read failures, could my hardware setup (connectors, pinout, cable integrity, extension cable) still be the root cause, despite the initial detection?

2. Do the repeated I2C errors (read id: 0x0 expected id 0x356) strongly indicate a faulty IMX412 sensor, or is it more likely a persistent cable/connection issue that dmesg is reflecting?

3. Are there any further diagnostic steps or voxl- tools I can use to specifically debug I2C communication with the camera sensor on the VOXL2, especially given the ERROR: object missing misp_channels message from voxl-camera-server?

4. Are there any known compatibility issues or specific driver/firmware quirks with the IMX412 (M0107) on VOXL2, particularly with the configuration I'm using or when using the M0036 extension cable? I suspected a hardware issue, so I tried swapping out the board, cable, and camera with a spare set I have, but the problem persists.

[Alex Kushleyev]

Hi @ysc , please see the following documentation pages:

https://docs.modalai.com/debugging-camera-issues/
https://docs.modalai.com/configure-cameras/#connect-a-new-camera

Your VOXL2 SW is likely set up for different camera configuration and you have a non-standard single camera setup (your IMX412 is connected to J7L, which is camera slot 2).

Considering that voxl-camera-server -l is already detecting your camera, you can confirm that it is IMX412 based on the sensor ID (also in docs above). The i2c read errors are coming from trying to detect cameras which are not physically connected (0x356 is the WHOAMI register value of AR0144 camera, which you do not have connected to your voxl2).

If you look in your /usr/lib/camera/, you should only have an imx412 sensormodule with slot 2 (com.qti.sensormodule.imx412*_2.bin) and if you don't want to see the i2c probe errors, you can remove other sensormodules from that directory (however they should not hurt, since you are already detecting your IMX412 camera, it seems).

You also need to take a look at your /etc/modalai/voxl-camera-server.conf and confirm it is correctly set up for a single hires imx412 camera. Then run voxl-camera-server in foreground to see any error messages.

Alex

[ysc]

Thank you, @Alex-Kushleyev I'm attaching additional test results and logs.

In /usr/lib/camera/, only IMX412-related sensormodule files were kept; others were deleted.
/etc/modalai/voxl-camera-server.conf was configured for a single IMX412 (hires) camera.
voxl-camera-server was run in both foreground and debug modes.

I'm wondering if there are any additional areas I should check, or if there are any known issues related to the IMX412 (M0107) module, slot, or firmware. Also, if anyone has resolved similar symptoms, please share your experience.

voxl2:/$ dmesg | grep -i cam
[ 0.000000] OF: reserved mem: initialized node pil_camera_region@86200000, compatible id removed-dma-pool
[ 1.744872] msm-bus-type slv-qhs-camera-cfg: Linked as a consumer to regulator.34
[ 1.747294] cam_cc-kona ad00000.qcom,camcc: Linked as a consumer to regulator.1
[ 1.747302] cam_cc-kona ad00000.qcom,camcc: Linked as a consumer to regulator.34
[ 1.747355] register_client_adhoc:Client handle 25 clk_camcc_debugfs
[ 1.752561] cam_cc-kona ad00000.qcom,camcc: Registered CAM CC clocks
[ 1.923626] synx: registered bind ops for cam_sync
[ 1.923813] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_ife: Linked as a consumer to 15000000.apps-smmu
[ 1.923944] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_ife to group 27
[ 1.924130] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_jpeg: Linked as a consumer to 15000000.apps-smmu
[ 1.924236] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_jpeg to group 28
[ 1.924316] platform soc:qcom,cam_smmu:msm_cam_icp_fw: assigned reserved memory node pil_camera_region@86200000
[ 1.924446] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_icp: Linked as a consumer to 15000000.apps-smmu
[ 1.924595] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_icp to group 29
[ 1.924667] CAM_INFO: CAM-SMMU: cam_smmu_get_memory_regions_info: 3730 [icp] : Discard region specified [0xdff00000 0xe0200000] in [0x10c00000 0xfef00000]
[ 1.924754] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_cpas_cdm: Linked as a consumer to 15000000.apps-smmu
[ 1.924858] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_cpas_cdm to group 30
[ 1.925051] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_fd: Linked as a consumer to 15000000.apps-smmu
[ 1.925153] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_fd to group 31
[ 1.925464] cam-cpas ac40000.qcom,cam-cpas: Linked as a consumer to regulator.79
[ 1.926382] register_client_adhoc:Client handle 57 cam_ahb
[ 1.926493] register_client_adhoc:Client handle 58 cam_hf_0_mnoc
[ 1.926608] register_client_adhoc:Client handle 59 cam_sf_0_mnoc
[ 1.926711] register_client_adhoc:Client handle 60 cam_sf_icp_mnoc
[ 1.927795] msm_cam_cdm ac4d000.qcom,cpas-cdm0: Linked as a consumer to regulator.79
[ 1.929515] cam_vfe acb4000.qcom,ife0: Linked as a consumer to regulator.79
[ 1.929526] cam_vfe acb4000.qcom,ife0: Linked as a consumer to regulator.75
[ 1.930316] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.930322] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.930801] cam_vfe acc3000.qcom,ife1: Linked as a consumer to regulator.79
[ 1.930812] cam_vfe acc3000.qcom,ife1: Linked as a consumer to regulator.76
[ 1.931564] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.931569] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.932027] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.932030] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.932044] cam_vfe acd9000.qcom,ife-lite0: Linked as a consumer to regulator.79
[ 1.932560] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.932564] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.932942] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.932945] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.932959] cam_vfe acdb200.qcom,ife-lite1: Linked as a consumer to regulator.79
[ 1.933444] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.933448] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.933869] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.933872] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.933885] cam_vfe acdd400.qcom,ife-lite2: Linked as a consumer to regulator.79
[ 1.934365] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.934370] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.934746] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.934749] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.934763] cam_vfe acdf600.qcom,ife-lite3: Linked as a consumer to regulator.79
[ 1.935243] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.935248] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.935624] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.935627] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.935642] cam_vfe ace1800.qcom,ife-lite4: Linked as a consumer to regulator.79
[ 1.936135] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.936140] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.936616] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_init: 8806 Offline IFE thresholds max 720000000 nom 560000000 min360000000
[ 1.936619] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_init: 8806 Offline IFE thresholds max 720000000 nom 560000000 min360000000
[ 1.936707] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936720] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936733] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936746] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936758] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936771] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936783] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936795] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936808] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936811] CAM_INFO: CAM-ISP: cam_isp_dev_probe: 163 Camera ISP probe complete
[ 1.937013] CAM_INFO: CAM: cam_res_mgr_probe: 685 Enable shared gpio support.
[ 1.937173] cam-cci-driver ac4f000.qcom,cci: Linked as a consumer to regulator.79
[ 1.937669] CAM_INFO: CAM-CCI: cam_cci_platform_probe: 454 Device Type :0
[ 1.937751] cam-cci-driver ac50000.qcom,cci: Linked as a consumer to regulator.79
[ 1.938064] CAM_INFO: CAM-CCI: cam_cci_platform_probe: 454 Device Type :1
[ 1.938203] cam-csiphy-driver ac6a000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938217] cam-csiphy-driver ac6a000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938257] cam-csiphy-driver ac6c000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938267] cam-csiphy-driver ac6c000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938305] cam-csiphy-driver ac6e000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938320] cam-csiphy-driver ac6e000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938361] cam-csiphy-driver ac70000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938371] cam-csiphy-driver ac70000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938406] cam-csiphy-driver ac72000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938416] cam-csiphy-driver ac72000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938456] cam-csiphy-driver ac74000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938466] cam-csiphy-driver ac74000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.939318] CAM_WARN: CAM-ICP: cam_a5_get_dt_properties: 46 QoS need not be set
[ 1.939336] cam-a5 ac00000.qcom,a5: Linked as a consumer to regulator.79
[ 1.939460] cam-ipe ac9a000.qcom,ipe0: Linked as a consumer to regulator.77
[ 1.939580] cam-bps ac7a000.qcom,bps: Linked as a consumer to regulator.74
[ 1.940484] cam-jpeg-enc ac53000.qcom,jpegenc: Linked as a consumer to regulator.79
[ 1.940605] cam-jpeg-dma ac57000.qcom,jpegdma: Linked as a consumer to regulator.79
[ 1.941031] CAM_INFO: CAM-JPEG: cam_jpeg_dev_probe: 162 Camera JPEG probe complete
[ 1.941167] cam_fd_hw ac5f000.qcom,fd: Linked as a consumer to regulator.79
[ 2.045399] CAM_ERR: CAM-CCI: cam_cci_assign_fops: 528 Invalid dev node:00000000bc36af2d offset: 0
[ 2.046187] cam_cc_sleep_clk_src: CXO configuration failed
[ 6.693838] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 6.703981] 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
[ 6.703985] 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
[ 6.704146] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 6.808437] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 6.808543] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 6.808588] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 6.808688] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 6.823354] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 6.823383] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 6.823389] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 6.823393] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 6.823398] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 6.823470] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 6.825555] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 6.825589] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 6.825643] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 6.866711] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 10.251798] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 10.276464] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 10.286710] 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
[ 10.286717] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 10.286726] 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
[ 10.349388] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 10.349501] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 10.349554] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 10.349658] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 10.364493] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 10.364593] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 10.364601] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 10.364606] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 10.364612] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 10.364710] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 10.366854] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 10.366904] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 10.366972] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 10.402561] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 11.788843] RTW: set pairwise key camid:0, addr:82:93:76:ba:1a:d1, kid:0, type:AES
[ 11.793321] RTW: set group key camid:1, addr:82:93:76:ba:1a:d1, kid:1, type:AES
[ 13.625836] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 13.638044] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 13.648196] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 13.648203] 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
[ 13.648206] 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
[ 13.666107] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 13.666296] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 13.666342] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 13.666432] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 13.681010] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 13.681042] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 13.681047] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 13.681050] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 13.681054] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 13.681134] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 13.683225] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 13.683262] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 13.683311] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 13.718822] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 135.786669] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 135.805905] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 135.816165] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 135.816181] 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
[ 135.816192] 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
[ 135.842587] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 135.842690] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 135.842712] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 135.842818] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 135.862220] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 135.862278] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 135.862288] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 135.862294] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 135.862302] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 135.862455] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 135.864362] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 135.864450] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 135.864546] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 135.913924] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 612.461063] RTW: set pairwise key camid:0, addr:22:2a:fd:f6:b1:d3, kid:0, type:AES
[ 612.470069] RTW: set group key camid:1, addr:22:2a:fd:f6:b1:d3, kid:1, type:AES
[ 755.451248] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 755.473531] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 755.483615] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 755.483622] 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
[ 755.483626] 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
[ 755.542979] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 755.543103] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 755.543157] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 755.543269] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 755.558053] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 755.558127] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 755.558134] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 755.558138] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 755.558143] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 755.558243] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 755.560357] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 755.560402] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 755.560452] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 755.606789] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
voxl2:/$
voxl2:/$ voxl-camera-server -d
voxl2:/$ cat /etc/modalai/voxl-camera-server.conf
{
"cameras": [
{
"name": "hires",
"type": "imx412",
"enabled": true,
"camId": 2,
"camId2": -2,
"fps": 30,
"en_rotate": 0,
"en_rotate2": 0,
"en_preview": true,
"pre_width": 640,
"pre_height": 480,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"en_large_video": true,
"large_video_width": 4056,
"large_video_height": 3040,
"en_misp": false,
"misp_width": -1,
"misp_height": -1,
"en_snapshot": false,
"snap_width": 4056,
"snap_height": 3040,
"exif_focal_length": 3.1,
"exif_focal_len_35mm_format": 17,
"exif_fnumber": 1.24,
"ae_mode": "isp",
"msv_exposure_min_us": 20,
"msv_exposure_max_us": 33000,
"gain_min": 54,
"gain_max": 8000,
"standby_enabled": false,
"decimator": 1,
"independent_exposure": false,
"camera_id": -1,
"preview_width": 640,
"preview_height": 480,
"small_venc_mode": "h264",
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"small_venc_osd": false,
"large_venc_mode": "h264",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 40,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 40,
"large_venc_osd": false,
"en_snapshot_width": 4056,
"en_snapshot_height": 3040,
"exif_focal_length_in_35mm_format": 17,
"snapshot_jpeg_quality": 75,
"misp_venc_enable": true,
"misp_venc_mode": "h265",
"misp_venc_br_ctrl": "cqp",
"misp_venc_Qfixed": 38,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 29,
"misp_venc_mbps": 30,
"misp_venc_osd": false,
"misp_awb": "auto",
"misp_gamma": 1.6
}
],
"fsync_en": false,
"fsync_gpio": 109
}
voxl2:/$

voxl2:/$ ls /usr/lib/camera/
com.qti.eeprom.cmk_imx577.so
com.qti.sensor.imx412_fpv.so
com.qti.sensormodule.imx412_fpv_1.bin
com.qti.tuned.cmk_imx577.bin
com.qti.tuned.cmk_ov9282.bin
com.qti.tuned.default.bin
com.qti.tuned.imx412_fpv.bin
com.qti.tuned.ov9782.bin
com.qti.tuned.sony_imx335.bin
components
voxl2:/$

voxl2:/$ voxl-camera-server
using new imx412 defaults
ERROR: object missing misp_channels

configuration for 1 cameras:

cam #0
name: hires
sensor type: imx412
isEnabled: 1
camId: -1
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0

en_preview:          1
pre_width:           640
pre_height:          480
en_raw_preview:      0

en_small_video:      1
small_video_width:   1024
small_video_height:  768

en_large_video:      1
large_video_width:   4056
large_video_height:  3040

en_misp:             0
misp_width:          -1
misp_height:         -1

en_snapshot:         0
snap_width:          4056
snap_height:         3040
exif_focal_length:   3.100000
exif_focal_len_35mm_format:17
exif_fnumber:        1.240000

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

voxl2:/$

[Alex Kushleyev]

Since your camera is plugged into J7 using M0076 , that would mean it is using J7L (lower) camera port, which is lot id 2, however the sensormodule you have in /usr/lib/camera is com.qti.sensormodule.imx412_fpv_1.bin, which means it is for slot id 1 (number at the end corresponds to the slot id). you replace that with com.qti.sensormodule.imx412_fpv_2.bin , which you can find inside /usr/share/modalai/chi-cdk/imx412-fpv -- the chi-cdk location is used to store all possible supported camera drivers (sensormodules).

Do not worry about the following print statement, it is not fatal : ERROR: object missing misp_channels

Alex

[ysc]

Hello, @Alex-Kushleyev

I'm having an issue where the IMX412 camera connected to J7L (camera slot 2) is detected but the camera server fails to start.

• Solutions Already Attempted:
  a) Sensor Module File Modification:
  - Copied /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_2.bin to
  - /usr/lib/camera/ directory

  b) Configuration File Modification:
  - In /etc/modalai/voxl-camera-server.conf
  - Set camId and camera_id to 2
  - Disabled MISP-related settings (en_misp: false, misp_venc_enable: false)

• Current Status:

  a) Camera Sensor Detection Status:
  - Successfully detected (sensor_id:0x577)
  - CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x34,sensor_id:0x577

  b) Camera Server Status:
  ● voxl-camera-server.service - voxl-camera-server
  Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled)
  Active: failed (Result: exit-code) since Wed 2025-06-04 05:05:08 UTC; 9min ago
  Process: 7181 ExecStart=/usr/bin/voxl-camera-server (code=exited, status=255)
  Main PID: 7181 (code=exited, status=255)

  c) Camera Server Logs:
  - ERROR: object missing misp_channels (I understand this error is not fatal)
  - Userspace process termination warning:
  CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

  d) Sensor Module Files Status:
  total 5364
  -rwxr-xr-x 1 root root 9912 Nov 11 2024 com.qti.eeprom.cmk_imx577.so
  -rwxr-xr-x 1 root root 9912 Nov 11 2024 com.qti.sensor.imx412_fpv.so
  -rw-r--r-- 1 root root 97304 Jun 4 04:50 com.qti.sensormodule.imx412_fpv_2.bin
  -rw-r--r-- 1 root root 957344 Nov 11 2024 com.qti.tuned.cmk_imx577.bin
  -rw-r--r-- 1 root root 835464 Nov 11 2024 com.qti.tuned.cmk_ov9282.bin
  -rw-r--r-- 1 root root 931864 Nov 11 2024 com.qti.tuned.default.bin
  -rw-r--r-- 1 root root 957344 Nov 11 2024 com.qti.tuned.imx412_fpv.bin
  -rw-r--r-- 1 root root 793816 Nov 11 2024 com.qti.tuned.ov9782.bin
  -rw-r--r-- 1 root root 882376 Nov 11 2024 com.qti.tuned.sony_imx335.bin
  drwxr-xr-x 2 root root 4096 Nov 11 2024 components

  e) Current Configuration File Content:
  {
  "cameras": [
  {
  "name": "hires",
  "type": "imx412",
  "enabled": true,
  "camId": 2,
  "camId2": -1,
  "fps": 30,
  "en_rotate": 0,
  "en_rotate2": 0,
  "en_preview": false,
  "pre_width": 640,
  "pre_height": 480,
  "en_raw_preview": false,
  "en_small_video": true,
  "small_video_width": 640,
  "small_video_height": 480,
  "en_large_video": false,
  "large_video_width": 4056,
  "large_video_height": 3040,
  "en_misp": false,
  "misp_width": 4056,
  "misp_height": 3040,
  "en_snapshot": false,
  "snap_width": 4056,
  "snap_height": 3040,
  "exif_focal_length": 3.1,
  "exif_focal_len_35mm_format": 17,
  "exif_fnumber": 1.24,
  "ae_mode": "isp",
  "msv_exposure_min_us": 20,
  "msv_exposure_max_us": 33000,
  "gain_min": 54,
  "gain_max": 8000,
  "standby_enabled": false,
  "decimator": 1,
  "independent_exposure": false,
  "camera_id": 2,
  "preview_width": 640,
  "preview_height": 480,
  "small_venc_mode": "h264",
  "small_venc_br_ctrl": "cqp",
  "small_venc_Qfixed": 30,
  "small_venc_Qmin": 15,
  "small_venc_Qmax": 40,
  "small_venc_nPframes": 9,
  "small_venc_mbps": 2,
  "small_venc_osd": false,
  "large_venc_mode": "h264",
  "large_venc_br_ctrl": "cqp",
  "large_venc_Qfixed": 40,
  "large_venc_Qmin": 15,
  "large_venc_Qmax": 50,
  "large_venc_nPframes": 29,
  "large_venc_mbps": 40,
  "large_venc_osd": false,
  "en_snapshot_width": 4056,
  "en_snapshot_height": 3040,
  "exif_focal_length_in_35mm_format": 17,
  "snapshot_jpeg_quality": 75,
  "misp_venc_enable": false,
  "misp_venc_mode": "none",
  "misp_venc_br_ctrl": "cqp",
  "misp_venc_Qfixed": 38,
  "misp_venc_Qmin": 15,
  "misp_venc_Qmax": 50,
  "misp_venc_nPframes": 29,
  "misp_venc_mbps": 30,
  "misp_venc_osd": false,
  "misp_awb": "auto",
  "misp_gamma": 1.6
  }
  ],
  "fsync_en": false,
  "fsync_gpio": 109
  }

• Problem Summary:

  • Camera sensor is successfully detected (sensor_id:0x577)
  • Correct sensor module file (imx412_fpv_2.bin) is installed
  • Configuration file has camId and camera_id both set to 2
  • MISP-related settings are all disabled
  • However, camera server fails to start and userspace process terminates

• Additional Attempts Made:

  • Restarted camera server (systemctl restart voxl-camera-server)
  • Ran in debug mode (voxl-camera-server -d)
  • Checked system logs (dmesg | grep -i cam)
  • Disabled MISP-related settings

Are there any additional suggestions or things I should check to resolve this issue?

[Alex Kushleyev]

@ysc ,

I am sorry, the camera ID vs slot ID may be a bit confusing when you first start playing with camera configurations.

In your case you only have one camera plugged into Camera Hardware Slot 2, (so you use the sensormodule with index 2), but once the cameras are detected by the system, they are assigned with camera ids which start with 0. So in your configuration file, you need to set camera_id to 0 and it should be called camera_id, not camId. -- you actually have both of those, so please remove camId and camId2 entries, and just set camera_id to 0.

You also have some duplicate (incorrectly named) parameters such as pre_width and pre_height -- the correct ones are preview_width and preview_height, which are also there. I think you probably got those from the information that camera server prints out when it starts, which actually does not use correct parameter names, such as camId and pre_width, etc... We should fix that..

Alex

[ysc]

@Alex-Kushleyev

The issue has been resolved. Thank you for your help.