VOXL2 Camera Configuration not found

jcai

Hello,

I'm using a VOXL2 (board only), a micro-coax camera adapter (M0173), and an IMX412 (M0161).

I'm following the documentation here. When configuring SKU, I can set 20 for VOXL2-board-only but camera configurations 26-30 don't appear. The same is true if I run voxl-configure-camera.

Any ideas as to the cause? All components are connected to the VOXL already.

VOXL currently thinks it is in the following hardware:

family code:   MCCA-M0054 (voxl2-board-only)
compute board: 4 (voxl2)
hw version:    1
cam config:    0
modem config:   ()
tx config:      ()
extras config:  ()
SKU:           MCCA-M0054-C0-M0-X0

If this is what you want, select 1 (accept and continue) to
leave it as-is. Otherwise, select the desired product family:

 1) accept and continue      12) voxlcam
 2) starling-2               13) seeker
 3) starling-2-max           14) rb5-flight
 4) starling                 15) flight-deck
 5) px4-autonomy-dev-kit     16) voxl-deck
 6) sentinel                 17) voxl2-flight-deck
 7) fpv                      18) voxl2-test-fixture
 8) D0010                    19) voxl2-mini-test-fixture
 9) stinger                  20) voxl2-board-only
10) D0015                    21) voxl2-mini-board-only
11) m500                     22) quit
#? 20
selected voxl2-board-only
------------------------------------------------------------------
If you would like to select a special camera config that differs
from the default for your product family, please select an option.
Simply hit ENTER to use the default

01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
22 - D0013 voxl2 mini dual ar0144
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 COAX dual ar0144 tracking
32 - D0008 triple ov9782 rotated
 C - use user-defined custom camera config in
     (/data/modalai/custom_camera_config.txt)
 q - Quit The Wizard


Simply hit ENTER to use the default

selection: ^C

Thanks,
Josh

tom

@jcai You'll need to re-flash the latest SDK and select a kernel option for M0173 support. Different kernels are required to unlock different camera configs

jcai

@tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

jcai

Also, I have a custom kernel build (that wasn't being used during my issues in my last comment) created by following this guide: https://docs.modalai.com/voxl2-kernel-build-guide/

The only change I made in this kernel was to enable CONFIG_MACVLAN=y by editing kona-perf_defconfig in

apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/configs/m0054

However, as you said, this kernel version doesn't support the M0173 breakout board. How do I build a version that does while also adding my macvlan config?

jcai

This post is deleted!

modaltb

Hi @jcai ,

Please build the kernel using the argument to specify a 'variant' of the kernel:

./qrb5165-build.sh -m M0054 -v var00.1

I'm using this var00.1 variable to pull in these device tree files basically:
https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1
Specifically for cameras:
https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1/m0054-modalai-camera.dtsi?ref_type=heads#L4
This happens here:
https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/linux-msm_4.19.bbappend?ref_type=heads#L187

For reference, the kernel tracks and exports info about itself to filesystem using this:
https://gitlab.com/voxl-public/system-image-build/meta-voxl2/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/voxl-platform-mod

-Travis