# Camera Issues, Missing Pipes, Lots of fun. Source: https://forum.modalai.com/topic/4376/camera-issues-missing-pipes-lots-of-fun Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software) Tags: camera Posted: 2025-04-25 15:35:18 UTC by Evan Palmisano Replies: 8 · Views: 1975 ## Evan Palmisano · 2025-04-25 15:35:18 UTC Hello, I am experiencing issues with my camera setup. For reference I am using the M0173 board with the Voxl2 with the system image 1.8.04-M0054-14. The configuration consists of two AR0144 tracking cameras, & IMX412 Hires camera, Boson & lepton thermal cameras. I've been having an issue with the lepton camera feed not showing in the portal that has devolved into the boson and hires cameras not showing in the portal as well. I reinstalled the sdk and pushed the configurations I had backed up but it isn't doing the trick this time around. The lepton server has standard configuration from how I received it. The connections are set to spi bus 0.0 and i2c bus 4, same as the documentation for the M0173 board. For this I just need confirmation that this is a hardware issue. This is the log from the lepton server. ``` journalctl -u voxl-lepton-server -n 50 -- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Fri 2025-04-25 14:58:29 UTC. -- Apr 25 13:41:51 m0054 voxl-lepton-server[1760]: WARNING, FAILED TO START I2C CCI Apr 25 13:41:51 m0054 voxl-lepton-server[1760]: Starting in SPI-ONLY mode -- Reboot -- Apr 25 13:50:52 m0054 systemd[1]: Started voxl-lepton-server. Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: ERROR: in voxl_i2c_read_bytes, failed to write to bus Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: io_expander_init, failed to read TCA9543APWR control register Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: If you are not using an M0188 lepton board then this is expected Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: failed to open I2C port 4, disabling CCI ret=-108 Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: WARNING, FAILED TO START I2C CCI Apr 25 13:50:52 m0054 voxl-lepton-server[1726]: Starting in SPI-ONLY mode -- Reboot -- Apr 25 14:01:46 m0054 systemd[1]: Started voxl-lepton-server. Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: ERROR: in voxl_i2c_read_bytes, failed to write to bus Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: io_expander_init, failed to read TCA9543APWR control register Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: If you are not using an M0188 lepton board then this is expected Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: failed to open I2C port 4, disabling CCI ret=-108 Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: WARNING, FAILED TO START I2C CCI Apr 25 14:01:46 m0054 voxl-lepton-server[1744]: Starting in SPI-ONLY mode Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: received SIGINT Ctrl-C Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: ================================================================= Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: spi_bus: 0 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: spi_speed: 16000000 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: en_i2c: 1 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: i2c_bus: 4 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: shutter_mode: manual Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: flow_shutter_s: 20 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: closePeriodInFramesInAir: 1 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: openPeriodInFramesInAir: 0 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: desiredFfcPeriodMsInAir: 360000 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: desiredFfcTempDeltaCentiDegInAir: 600 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: assign_cpu_num: 7 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: en_timing_msg: 0 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: en_rotate: 0 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: ================================================================= Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: thread is now locked to the following cores: 7 Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: attempting to init the io expander Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: Attempting intitialization for M0188 (TCA9543A) Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: Attempting intitialization for M0187 (PI4IO) Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: Using M0187 (PI4IO) Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: attempting to open I2C CCI Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: trying address 0x2a Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: unable to read status reg at either lepton i2c address Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: waiting for first frame from lepton to create MPA pipes Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: Starting shutdown sequence Apr 25 14:19:13 m0054 voxl-lepton-server[1744]: Exiting Cleanly -- Reboot -- Apr 25 14:34:41 m0054 systemd[1]: Started voxl-lepton-server. Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: ERROR: in voxl_i2c_read_bytes, failed to write to bus Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: io_expander_init, failed to read TCA9543APWR control register Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: If you are not using an M0188 lepton board then this is expected Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: failed to open I2C port 4, disabling CCI ret=-108 Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: WARNING, FAILED TO START I2C CCI Apr 25 14:34:41 m0054 voxl-lepton-server[1711]: Starting in SPI-ONLY mode ``` For the boson and hires cameras. I hear the boson camera shutter clicking so I know it is receiving power and everything, but there seems to be a mismatch in the data address. The hires stopped working recently and I am unsure as to what caused it. This is the log from the camera server. ``` journalctl -u voxl-camera-server -n 161 -- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Fri 2025-04-25 15:06:55 UTC. -- Apr 25 14:55:10 m0054 systemd[1]: Started voxl-camera-server. Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ERROR: object missing misp_channels Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ERROR: object missing misp_channels Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ================================================================= Apr 25 14:55:11 m0054 voxl-camera-server[1666]: configuration for 4 cameras: Apr 25 14:55:11 m0054 voxl-camera-server[1666]: cam #0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: name: tracking_front Apr 25 14:55:11 m0054 voxl-camera-server[1666]: sensor type: ar0144 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: isEnabled: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId2: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fps: 30 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate2: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_width: 1280 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_height: 800 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_raw_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_small_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_large_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_misp: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_width: 1280 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_height: 800 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_snapshot: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_length: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_len_35mm_format:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_fnumber: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ae_mode: lme_msv Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_min_us: 20 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_max_us: 12000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_min : 54 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_max : 8000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: standby_enabled: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: decimator: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: independent_exposure:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: cam #1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: name: hires Apr 25 14:55:11 m0054 voxl-camera-server[1666]: sensor type: imx412-fpv-misp Apr 25 14:55:11 m0054 voxl-camera-server[1666]: isEnabled: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId2: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fps: 60 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate2: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_width: 1936 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_height: 1080 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_raw_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_small_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_width: 1024 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_height: 768 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_large_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_width: 4056 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_height: 3040 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_misp: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_width: 1280 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_height: 720 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_snapshot: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_width: 4056 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_height: 3040 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_length: 3.100000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_len_35mm_format:17 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_fnumber: 1.240000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ae_mode: lme_msv Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_min_us: 25 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_max_us: 16466 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_min : 54 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_max : 30000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: standby_enabled: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: decimator: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: independent_exposure:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: cam #2 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: name: boson Apr 25 14:55:11 m0054 voxl-camera-server[1666]: sensor type: boson-fpv Apr 25 14:55:11 m0054 voxl-camera-server[1666]: isEnabled: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId: 2 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId2: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fps: 30 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate2: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_width: 640 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_height: 512 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_raw_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_small_video: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_width: 640 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_height: 512 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_large_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_misp: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_width: 640 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_height: 512 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_snapshot: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_length: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_len_35mm_format:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_fnumber: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ae_mode: lme_msv Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_min_us: 20 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_max_us: 33000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_min : 54 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_max : 8000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: standby_enabled: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: decimator: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: independent_exposure:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: cam #3 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: name: tracking_down Apr 25 14:55:11 m0054 voxl-camera-server[1666]: sensor type: ar0144 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: isEnabled: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId: 3 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: camId2: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fps: 30 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_rotate2: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_width: 1280 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: pre_height: 800 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_raw_preview: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_small_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: small_video_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_large_video: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: large_video_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_misp: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_width: 1280 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: misp_height: 800 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: en_snapshot: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_width: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: snap_height: -1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_length: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_focal_len_35mm_format:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: exif_fnumber: 0.000000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ae_mode: lme_msv Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_min_us: 20 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: msv_exposure_max_us: 12000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_min gbm_create_device(156): Info: backend name is: msm_drm Apr 25 14:55:11 m0054 voxl-camera-server[1666]: : 54 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: gain_max : 8000 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: standby_enabled: 0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: decimator: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: independent_exposure:0 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fsync_en: 1 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: fsync_gpio: 109 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: ================================================================= Apr 25 14:55:11 m0054 voxl-camera-server[1666]: thread is locked to cores: 4 5 6 7 Apr 25 14:55:11 m0054 voxl-camera-server[1666]: Opened GBM fd Apr 25 14:55:11 m0054 voxl-camera-server[1666]: Created GBM device Apr 25 14:55:11 m0054 voxl-camera-server[1666]: MISP Initializing!!! Apr 25 14:55:11 m0054 voxl-camera-server[1666]: Detected 1 platform(s) Apr 25 14:55:11 m0054 voxl-camera-server[1666]: Detected 1 GPU device(s) Apr 25 14:55:12 m0054 voxl-camera-server[1666]: MISP Initializing!!! -- Reboot -- Apr 25 15:01:36 m0054 voxl-camera-server[1704]: received SIGINT Ctrl-C ``` And this is the log from the voxl2 on startup ``` dmesg | tail -n100 [ 5.732343] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.732838] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.733227] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.734634] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.734857] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.735366] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.736721] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.736818] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.737660] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.737778] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.743775] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 5.767430] r8152 4-1:1.0 eth0: carrier on [ 6.220530] RTW: rtw_hal_init: hal_init SUCCESS [ 6.221624] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:af:f8:6c [ 6.221631] RTW: WARN LED_CTL_POWER_ON [ 6.222589] IPv6: ADDRCONF(NETDEV_UP): wlan0: link is not ready [ 6.225443] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 6.231310] QTI:Netlink Query to Kernel Success [ 6.236852] QTI:LINK_UP message posted [ 6.240940] QTI:Processing LINK_UP [ 6.244258] QTI:Enable mobileap [ 6.247365] QCMAP:Enable mobileap [ 6.328406] QCMAP:Enable mobileap done [ 6.331267] QTI:Setup TETHERED link [ 6.332463] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready [ 6.379067] QTI:LINK_UP Processed [ 6.386564] spi_geni 98c000.spi: tx_fifo 16 rx_fifo 16 tx_width 32 [ 6.460996] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000] [ 6.469866] Started adbd. [ 6.472276] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully [ 6.472283] 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 [ 6.472286] 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 [ 6.604783] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 6.606909] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56 [ 6.608122] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 6.608176] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 6.631210] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356 [ 6.631287] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79 [ 6.635356] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60 [ 6.635395] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56 [ 6.635433] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58 [ 6.649884] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58 [ 6.649972] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60 [ 6.650012] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56 [ 6.650096] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79 [ 6.664084] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 [ 6.664139] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: [ 6.664143] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 [ 6.664146] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 [ 6.664152] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: [ 6.664216] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79 [ 6.666275] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56 [ 6.666298] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60 [ 6.666331] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58 [ 6.690549] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59 [ 6.692191] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55 [ 6.694309] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60 [ 6.694362] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79 [ 6.716124] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:4,slave_addr:0xd4,sensor_id:0xff [ 6.716178] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.79 [ 6.720203] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.60 [ 6.720240] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.55 [ 6.720275] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.59 [ 6.732510] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58 [ 6.734610] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56 [ 6.736118] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60 [ 6.736164] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79 [ 6.758745] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:6,slave_addr:0x30,sensor_id:0x356 [ 6.758818] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79 [ 6.762230] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60 [ 6.762271] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56 [ 6.762305] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58 [ 6.796867] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 6.797919] voxl-fsync: initialized [ 6.798955] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56 [ 6.800159] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 6.800237] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 6.822511] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 6.878840] subsys-pil-tz soc:qcom,kgsl-hyp: a650_zap: loading from 0x00000000edd00000 to 0x00000000edd01000 [ 6.882648] subsys-pil-tz soc:qcom,kgsl-hyp: a650_zap: Brought out of reset [ 7.477091] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58 [ 7.479125] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56 [ 7.481169] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60 [ 7.481206] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79 [ 7.502283] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 15.506932] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 15.711408] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL! [ 15.827818] RTW: WARN LED_CTL_POWER_OFF [ 15.843491] device wlan0 entered promiscuous mode [ 16.164778] RTW: rtw_hal_set_tx_power_level: calling set_tx_power_level_handler [ 18.417423] devfreq-qcom-fw 18590000.qcom,devfreq-l3:qcom,cdsp-cdsp-l3-lat: Successfully started CDSP L3 governor [ 33.761977] vdd_tof: disabling [ 33.761982] vdd_hap_boost: disabling [ 48.892261] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[6 -1] with [0 pix] [0 pd] [1 rdi] ports for ctx:0 [ 48.894068] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 0, Device_slot: 1, Datarate: 592000000, Settletime: 2800000000 [ 48.905341] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input [ 48.905346] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top [ 48.905662] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000a6173dee [ 48.930899] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 101.396379] boot log copy done ``` I know this is a lot, but it kind of snowballed. Any help would be greatly appreciated. I would also be more than happy to provide configurations if need be. ## Reply by Alex Kushleyev (ModalAI staff) · 2025-04-25 15:51:04 UTC @Evan-Palmisano , based on your dmesg log, the IMX412 camera is not detected via the initial i2c probe. ``` [ 6.664084] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 [ 6.664139] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: [ 6.664143] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 [ 6.664146] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 [ 6.664152] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: ``` The reason for this is either: - hardware issue - incorrect imx412 sensormodule present in `/usr/lib/camera` -- wrong slot id. Please double check this or let me know if you need help checking it. - it is possible that this may also occur if you are using the wrong kernel variant (0 instead of 1). If you are using M0173, then kernel variant needs to be 1, which sets up various interfaces correctly for M0173. You typically select the kernel variant during SDK install. Lepton server is completely independent of the main camera server, as the lepton data is transferred via SPI only (as opposed to the high speed camera pipeline). Can you check which version of the lepton server is being used? It seems in your case, the lepton server (incorrectly?) finds M0187 and perhaps that's the reason of the failure?. I am not sure why M0187 would be found if you don't have it plugged in. You can try using the latest lepton server from dev: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ Here is output from my test using M0173 board with Lepton (on Starling 2 MAX drone) ``` voxl-lepton-server ================================================================= spi_bus: 0 spi_speed: 16000000 en_i2c: 1 i2c_bus: 4 shutter_mode: auto flow_shutter_s: 20 closePeriodInFramesInAir: 1 openPeriodInFramesInAir: 0 desiredFfcPeriodMsInAir: 360000 desiredFfcTempDeltaCentiDegInAir: 600 assign_cpu_num: 7 en_timing_msg: 0 en_rotate: 0 ================================================================= thread is now locked to the following cores: 7 attempting to init the io expander Attempting intitialization for M0188 (TCA9543A) ERROR: in voxl_i2c_read_bytes, failed to write to bus io_expander_init, failed to read TCA9543APWR control register If you are not using an M0188 lepton board then this is expected Attempting intitialization for M0187 (PI4IO) ERROR: in voxl_i2c_read_bytes, failed to write to bus io_expander_init, failed to read from io expander If you are not using an M0187 lepton board then this is expected attempting to open I2C CCI trying address 0x2a successfully opened I2C port Successfully connected to I2C CCI waiting for first frame from lepton to create MPA pipes id number out of range, cnt: 156, 100 segment number OOB: 12 id number out of range, cnt: 98, 200 WARNING Expected segment 0, received segment 4 id number out of range, cnt: 136, 300 id number out of range, cnt: 177, 400 id number out of range, cnt: 92, 500 bad id limit reached so syncing lepton, sync_count: 2 creating MPA server pipes enabling MPA control interface ... (success) ``` ## Reply by Evan Palmisano · 2025-04-25 16:12:26 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev thank you for your quick response, I appreciate you getting back to me. Starting with the imx412, I have the com.qti.sensormodule.imx412_fpv_misp_1.bin, com.qti.sensormodule.imx412_fpv.bin, and com.qti.sensormodule.imx412_fpv.so in /usr/lib/camera. My lepton server outputs this when running ``` voxl2:~$ voxl-lepton-server ================================================================= spi_bus: 0 spi_speed: 16000000 en_i2c: 1 i2c_bus: 4 shutter_mode: manual flow_shutter_s: 20 closePeriodInFramesInAir: 1 openPeriodInFramesInAir: 0 desiredFfcPeriodMsInAir: 360000 desiredFfcTempDeltaCentiDegInAir: 600 assign_cpu_num: 7 en_timing_msg: 0 en_rotate: 0 ================================================================= existing instance of voxl-lepton-server found, attempting to stop it thread is now locked to the following cores: 7 attempting to init the io expander Attempting intitialization for M0188 (TCA9543A) ERROR: in voxl_i2c_read_bytes, failed to write to bus io_expander_init, failed to read TCA9543APWR control register If you are not using an M0188 lepton board then this is expected Attempting intitialization for M0187 (PI4IO) Using M0187 (PI4IO) attempting to open I2C CCI trying address 0x2a successfully opened I2C port failed to ping lepton on I2C, trying again failed to ping lepton on I2C a second time WARNING, FAILED TO START I2C CCI Starting in SPI-ONLY mode waiting for first frame from lepton to create MPA pipes ``` It seems to be getting stuck waiting for the first frame from the lepton but it never comes through. ## Reply by Alex Kushleyev (ModalAI staff) · 2025-04-25 16:14:38 UTC (in reply to Evan Palmisano) @Evan-Palmisano can you please post the top of output of voxl-version, which will list board type and kernel variant ( no need to paste all the package info) ## Reply by Evan Palmisano · 2025-04-25 16:16:56 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev ``` voxl2:~$ voxl-version ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.04-M0054-14.1a-perf-20250414 kernel: #1 SMP PREEMPT Tue Apr 15 05:13:39 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0008-4-V5-C37-T8-M25-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.4.4-202504142201 ──────────────────────────────────────────────────────────────────────────────── ``` ## Reply by Alex Kushleyev (ModalAI staff) · 2025-04-25 17:59:57 UTC (in reply to Evan Palmisano) @Evan-Palmisano , ok that looks correct, specificaly: ``` mach.var: 1.0.1 ``` What are you using for the Lepton breakout board - is it a ModalAI board M0157 or M0187? Alex ## Reply by Alex Kushleyev (ModalAI staff) · 2025-04-25 18:18:45 UTC (in reply to Alex Kushleyev) also, regarding your IMX412 camera, which hardware slot is it actually plugged in? based on the sensormodule and dmesg, the camera pipeline is trying to find it in slot 1. Is your IMX412 connected in standard C26 config, as shown here? https://docs.modalai.com/voxl2-coax-camera-bundles/#kit-pictures-and-descriptions ## Reply by Evan Palmisano · 2025-04-25 18:39:22 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Yes it should be, I think the cable itself is disconnected regarding that issue. ## Reply by Evan Palmisano · 2025-04-25 18:50:05 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Yeah it was the cable. Getting hires feed now.