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    Starling 2: TOF sensor not recognized by VOXL Portal

    Starling & Starling 2
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    • Hector GutierrezH
      Hector Gutierrez @Alex Kushleyev
      last edited by

      @Alex-Kushleyev
      Thanks for the prompt reply. I receive the following output:
      Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbpt
      | hires_large_color |18495360 | 4056 | 3040 | 16.67 | 747 | 1880 | 93.2 | 30.0 | 44422
      | hires_large_encoded | 2064 | 4056 | 3040 | 16.67 | 747 | 1879 | 100.0 | 30.0 | 0
      | hires_large_grey |12330240 | 4056 | 3040 | 16.67 | 747 | 1880 | 72.2 | 30.0 | 29618
      | hires_small_color | 1179648 | 1024 | 768 | 16.67 | 747 | 1880 | 50.4 | 30.0 | 2832
      | hires_small_encoded | 256 | 1024 | 768 | 16.67 | 747 | 1880 | 61.6 | 30.0 | 0
      | hires_small_grey | 786432 | 1024 | 768 | 16.67 | 747 | 1881 | 48.4 | 30.0 | 1888
      | hires_snapshot |
      | ov_overlay | 3235840 | 1280 | 2528 | 6.81 | 614 | 1640 | 84.2 | 4.7 | 1228
      | tracking_down | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 34.1 | 30.0 | 2458
      | tracking_down_bayer | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 33.7 | 30.0 | 2458
      | tracking_down_misp_grey | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 33.3 | 30.0 | 2458
      | tracking_down_misp_norm | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 36.3 | 30.0 | 2458
      | tracking_front | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.5 | 30.0 | 2458
      | tracking_front_bayer | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.7 | 30.0 | 2458
      | tracking_front_misp_grey | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 30.2 | 30.0 | 2458
      | tracking_front_misp_norm | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 35.5 | 30.0 | 2458
      | tracking_rear | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.9 | 30.0 | 2458
      | tracking_rear_bayer | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.1 | 30.0 | 2458
      | tracking_rear_misp_grey | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 31.5 | 30.0 | 2458
      | tracking_rear_misp_norm | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 35.1 | 30.0 | 2458

      Still dont see the ToF sensor ... Please advise
      Thanks, Hector

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Hector Gutierrez
        last edited by

        @Hector-Gutierrez ,
        OK, so it looks like that the 4 detected cameras are actually streaming data.

        I am not sure why voxl-portal is not showing any cameras. When you access the voxl-portal via browser, do you see the actual portal (with green menu bar at the top), but no cameras are listed in the Cameras section?

        How are you connected to the drone? (wifi, adb, etc).

        Regarding the TOF sensor, since voxl-camera-server -l did not show that the TOF sensor is detected, the stream is not available.

        Please double check that com.qti.sensormodule.irs2975c* file is in /usr/lib/camera/ directory - please provide the exact name or let me know if it's missing.

        Also, can you please take a picture of your cameras plugged into the M0173 camera front end? I just want to make sure the TOF sensor is plugged in correctly.

        Alex

        Hector GutierrezH 1 Reply Last reply Reply Quote 0
        • Hector GutierrezH
          Hector Gutierrez @Alex Kushleyev
          last edited by

          @Alex-Kushleyev
          Hi Alex, I disassembled and reassembled the camera board and now I get 4 cameras in VOXL Portal ! I did reconnect the ToF sensor as well to the camera board, it seems properly connected.
          The cameras working well are hires_large_color, and all three tracking cameras. I still dont see the ToF sensor , and the view of the hires camera is blurry (out of focus). The hires camera was recently replaced, so how to get it into focus is another question.
          I listed the files on /usr/lib/camera and found this file: com.qti.sensormodule.irs2975c_3.bin
          So now we are down to the ToF sensor (and to put the hires camera in focus). Let me know what to try next !
          thanks, Hector

          Alex KushleyevA Hector GutierrezH 2 Replies Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Hector Gutierrez
            last edited by

            @Hector-Gutierrez , in order to focus the hires camera (I am assuming IMX412), you can twist the lens in the M12 lens holder. Normally we do focus the hires cameras to a norminal focus distance, but maybe you had one from earlier batch which was not focused. Also, focus of the camera depends on the application, so it is recommended for users to double check and correct the focus for their needs. If there is some sealant on the threads, it is not permanent and can be removed using tweezers - loosening it up a bit should allow you to twist the lens inside the holder.

            Regarding the PMD TOF, not sure yet. Has it worked before?

            Alex

            1 Reply Last reply Reply Quote 0
            • Hector GutierrezH
              Hector Gutierrez @Hector Gutierrez
              last edited by

              @Hector-Gutierrez
              Hi Alex - As you suggested, the focus issue was resolved by twisting the lens until good focus at 3 m. was achieved.
              The TOF sensor remains a problem. I've tried detaching and reconnecting its cable (on both ends) but no luck so far.
              Both VOXL Portal and voxl-camera-server -l only see 4 cameras.
              We didnt use the TOF sensor before so I didnt notice if it was working previously or not.
              Please let me know what to try next - thanks, Hector

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Hector Gutierrez
                last edited by

                @Hector-Gutierrez , can you please send a picture of the TOF sensor connected to M0173? Just to make sure the connections are correct.

                Hector GutierrezH 1 Reply Last reply Reply Quote 0
                • Hector GutierrezH
                  Hector Gutierrez @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev
                  Hi Alex - attached are some pictures of the connection. Something odd is happening. The connector engages its socket in two different locations relative to the hole for the screw. In the centered location (where it should be!) the TOF sensor causes a power short and the drone wont boot (see picture with red LED). In the off-center location there is no short and the drone boots, but I only get 4 cameras and the TOF is not visible.
                  ![centered.jpg](Request Entity Too Large) ![off-center1.jpg](Request Entity Too Large) ![off-center2.jpg](Request Entity Too Large) ![power-short.jpg](Request Entity Too Large)

                  Hector GutierrezH 1 Reply Last reply Reply Quote 0
                  • Hector GutierrezH
                    Hector Gutierrez @Hector Gutierrez
                    last edited by

                    @Hector-Gutierrez
                    Download link for the pictures in case they did not attach to previous message:
                    https://quickconnect.to/asapstorage/d/s/13iMi9oRZUxhkQYoW2DCHtZ7nI9HgYJx/bj3PLF8EXd5pKdKgwphVqcbD7VaaMBQX-V7WAgk58WAw

                    Hector GutierrezH 1 Reply Last reply Reply Quote 0
                    • Hector GutierrezH
                      Hector Gutierrez @Hector Gutierrez
                      last edited by

                      @Hector-Gutierrez
                      Update from my previous post. I install the TOF connector in the centered location and fully attach the screws (including the one that secures the TOF ribbon cable). There is no short, the drone start normally, and I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection is definitely Ok, but sensor not present.

                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @Hector Gutierrez
                        last edited by

                        @Hector-Gutierrez , I am sorry, i was not able to access the image you shared. Can you please just resize / crop the image so that it fits into the forum? Just please make sure the details are still easy to see.

                        Thank you!

                        Alex

                        Hector GutierrezH 2 Replies Last reply Reply Quote 0
                        • Hector GutierrezH
                          Hector Gutierrez @Alex Kushleyev
                          last edited by

                          @Alex-Kushleyev
                          Hi Alex - attached are the pictures. centered.jpg off-center1.jpg

                          After installing the TOF connector in the centered location and fully attach all the screws (including the one that secures the TOF ribbon cable), there is no short and the drone starts normally. I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection seems definitely Ok, but sensor not present. Seems to me like a bad TOF sensor - let me know your thoughts.

                          Hector GutierrezH 1 Reply Last reply Reply Quote 0
                          • Hector GutierrezH
                            Hector Gutierrez @Hector Gutierrez
                            last edited by

                            @Hector-Gutierrez Clarification on the pictures. The top picture is the centered position of the TOF ribbon cable. The bottom picture can be disregarded. The connection is done on the centered position (top picture). Thanks.

                            1 Reply Last reply Reply Quote 0
                            • Hector GutierrezH
                              Hector Gutierrez @Alex Kushleyev
                              last edited by

                              @Alex-Kushleyev - Any updates on this thread ? Let me know if there is anything else I could try or if you consider this a hardware problem with the PMD sensor itself. Thanks, Hector

                              Alex KushleyevA 1 Reply Last reply Reply Quote 0
                              • Alex KushleyevA
                                Alex Kushleyev ModalAI Team @Hector Gutierrez
                                last edited by

                                @Hector-Gutierrez , sorry about the delay.. Before submitting RMA (i will provide instructions), can you please share the output of dmesg after you run voxl-camera-server -l ? this will let me confirm that there is an attempt to ping the TOF sensor and it fails. You could save the output of dmesg into a text file and share it or paste it here.

                                A successful dmesg output should look something like this (this is from a Starling 2 Max), which has an extra IMX412 camera:

                                [ 1712.362675] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 1712.383711] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 1712.393864] 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
[ 1712.393868] 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
[ 1712.393916] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 1712.470777] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
[ 1712.472096] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56
[ 1712.474369] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
[ 1712.474408] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
[ 1712.498846] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356
[ 1712.498997] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
[ 1712.502731] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
[ 1712.502868] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56
[ 1712.502981] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
[ 1712.526976] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 1712.527116] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 1712.527175] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 1712.527326] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 1712.541852] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0x34,sensor_id:0x577
[ 1712.541967] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 1712.543257] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 1712.543316] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 1712.543392] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 1712.561608] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[ 1712.563718] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[ 1712.565875] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
[ 1712.567770] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[ 1712.575483] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x7a,sensor_id:0x2975
[ 1712.577616] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[ 1712.579717] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
[ 1712.579758] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[ 1712.579812] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[ 1712.604128] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58
[ 1712.606318] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56
[ 1712.608394] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60
[ 1712.608473] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79
[ 1712.631999] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:6,slave_addr:0x30,sensor_id:0x356
[ 1712.632517] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79
[ 1712.636492] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60
[ 1712.636595] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56
[ 1712.636686] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58
[ 1712.662182] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
[ 1712.662338] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
[ 1712.662399] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.56
[ 1712.662543] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
[ 1712.677605] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x34,sensor_id:0x577
[ 1712.677728] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
[ 1712.679699] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56
[ 1712.679736] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
[ 1712.679789] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
[ 1712.739998] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

                                Specifically, the following line says that the TOF sensor has been probed successfully:

                                [ 1712.575483] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x7a,sensor_id:0x2975

                                If the probe fails, you would see some CCI errors. If you do not see anything related to slave address 0x7a , the the sensor is not being probed and the issue is on the SW configuration side, which we can investigate further.

                                Alex

                                Hector GutierrezH 2 Replies Last reply Reply Quote 0
                                • Hector GutierrezH
                                  Hector Gutierrez @Alex Kushleyev
                                  last edited by

                                  @Alex-Kushleyev said in Starling 2: TOF sensor not recognized by VOXL Portal:

                                  [ 1712.679736] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60

                                  Can you send me the syntax to get the dmesg output from voxl-camera-server -l ? I've tried a few options but I do not get an output that looks like the one you show. Thanks.

                                  1 Reply Last reply Reply Quote 0
                                  • Hector GutierrezH
                                    Hector Gutierrez @Alex Kushleyev
                                    last edited by

                                    @Alex-Kushleyev : got the output of dmesg. It is too large to cut and paste here, but you can download the text file from this link:
                                    https://quickconnect.to/asapstorage/d/s/144lSyeQPPdNEZhCoWVCOjXUTudhlakC/Yfk8uh0E8Vk96kuc_96XHvRM6svAJSIF-bLWAR1fcaQw
                                    (dont click on the link: copy and paste to a browser window).
                                    Or send me the syntax to get a filtered output as you have above. Thanks.

                                    Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                    • Alex KushleyevA
                                      Alex Kushleyev ModalAI Team @Hector Gutierrez
                                      last edited by Alex Kushleyev

                                      @Hector-Gutierrez

                                      You need to use the formatted text quote, click an icon above that looks like this: </>

                                      I dont think i can access the dmesg file you shared. Here is how you can generate a short version with just what i need to see:

                                      • run “dmesg -w” run view continuous out put from dmesg
                                      • press enter a few times to create a few empty lines that you can find later
                                      • run “voxl-camera-server -l” in another terminal
                                      • copy past just the new lines that appeared, which you should see based on the extra newlines you created

                                      Alex

                                      Hector GutierrezH 1 Reply Last reply Reply Quote 0
                                      • Hector GutierrezH
                                        Hector Gutierrez @Alex Kushleyev
                                        last edited by

                                        @Alex-Kushleyev : here is the output:

                                        [  206.798954] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5
[  206.801089] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[  206.801105] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[  215.356522] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5890
[  215.356586] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5890
[  215.356694] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next.
[  215.367444] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  215.367450] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 0, Device_slot: 0, Datarate: 592000000, Settletime: 2800000000
[  215.367473] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 2
[  215.368902] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
[  215.372057] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
[  215.372072] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56
[  215.372085] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
[  215.372128] CAM_INFO: CAM: cam_res_mgr_shared_pinctrl_put: 270 Need hold put this pinctrl
[  215.372143] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  216.395442] msm_vidc:   err : 00000002: h264e: msm_comm_flush: Already in flush
[  216.508604] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
[  216.508616] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 1, Device_slot: 0, Datarate: 1500000000, Settletime: 2200000000
[  216.515038] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 0
[  216.515922] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[  216.517960] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[  216.517973] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[  216.517986] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[  216.518049] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34
[  216.618202] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5927
[  216.618268] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5927
[  216.618374] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next.
[  216.621881] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  216.621891] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 2, Device_slot: 0, Datarate: 592000000, Settletime: 2800000000
[  216.628363] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 3
[  216.629040] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
[  216.633125] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
[  216.633166] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56
[  216.633212] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
[  216.633667] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  216.687846] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5930
[  216.687904] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5930
[  216.687998] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next.
[  216.692371] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  216.692383] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 0, Device_slot: 1, Datarate: 592000000, Settletime: 2800000000
[  216.698841] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 1
[  216.699769] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79
[  216.703840] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60
[  216.703886] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56
[  216.703919] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58
[  216.705006] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30
[  216.712597] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30080
[  216.721134] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[  216.761711] msm_vidc:   high: 00000002: h264e: Closed video instance: ffffffeefdebe000
[  216.761933] msm_vidc:   high: 00000001: h264e: Closed video instance: ffffffef0e100000
[  216.884653] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[  216.895769] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[  216.906058] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[  216.906072] 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
[  216.906084] 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
[  216.929300] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
[  216.931458] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56
[  216.933569] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
[  216.933607] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
[  216.956534] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356
[  216.956636] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
[  216.960823] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
[  216.960951] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56
[  216.961062] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
[  216.986327] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[  216.986474] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[  216.986534] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[  216.986670] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[  217.000967] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0x34,sensor_id:0x577
[  217.001068] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[  217.003181] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[  217.003308] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[  217.003456] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[  217.029376] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
[  217.031600] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.56
[  217.033826] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
[  217.033928] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
[  217.057861] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x30,sensor_id:0x356
[  217.058009] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
[  217.062570] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
[  217.062700] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56
[  217.062812] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
[  217.085707] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[  217.087825] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[  217.089993] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
[  217.092187] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[  217.695551] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5
[  218.274338] msm_vidc:   err : ffffffff: .....: DBLP Set: status 0
[  218.624174] CAM_ERR: CAM-CCI: cam_cci_read: 1320 wait_for_completion_timeout rc = -110 FIFO buf_lvl: 0x0
[  220.128139] CAM_ERR: CAM-CCI: cam_cci_flush_queue: 53 wait timeout
[  220.128236] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-110
[  220.128248] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -110
[  220.128262] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x2975:
[  220.130622] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[  220.132521] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
[  220.132641] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[  220.132787] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[  220.160433] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58
[  220.163839] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56
[  220.166217] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60
[  220.166422] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79
[  220.191299] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:6,slave_addr:0x30,sensor_id:0x356
[  220.191460] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79
[  220.195732] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60
[  220.195860] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56
[  220.195969] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58
[  220.255634] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[  229.072542] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5

                                        Let me know what else is needed. Thanks, Hector

                                        Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                        • Alex KushleyevA
                                          Alex Kushleyev ModalAI Team @Hector Gutierrez
                                          last edited by

                                          @Hector-Gutierrez ,

                                          the following lines mean that the the system is trying to probe the TOF device by communicating with it via I2C (CCI), but the probe fails.

                                          [  218.624174] CAM_ERR: CAM-CCI: cam_cci_read: 1320 wait_for_completion_timeout rc = -110 FIFO buf_lvl: 0x0
[  220.128139] CAM_ERR: CAM-CCI: cam_cci_flush_queue: 53 wait timeout
[  220.128236] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-110
[  220.128248] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -110
[  220.128262] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x2975:

                                          Assuming the TOF sensor is actually connected (which we established), it is likely that there is a hardware issue somewhere between M0173 and the TOF sensor (inclusive). My recommendation is to submit an RMA request, referencing this post. You should request a new TOF sensor assembly and M0173 board just in case. Specifically,

                                          • qty 1 MSU-M0178-1-01
                                          • qty 1 MDK-M0173-1-00 (bare board)

                                          Once you receive these parts, you should first test the new TOF sensor assembly and if that works fine, please send back the bad TOF and the new M0173. If replacing the new TOF sensor still does not work, you may need to try the new M0173 board, carefully disconnecting and re-connecting the camera cables). In either case, please return the extra TOF and M0173 (one of which may be non-functional).

                                          If you do have another VOXL2 board, you could first try the new TOF with new M0173 and then the old (currently not working) TOF sensor, just to test that path before swapping M0173 on the Starling 2 drone.

                                          To fill out RMA request, please go to https://www.modalai.com/rma and fill out the form.

                                          Sorry for the inconvenience!

                                          Alex

                                          Hector GutierrezH 1 Reply Last reply Reply Quote 0
                                          • Hector GutierrezH
                                            Hector Gutierrez @Alex Kushleyev
                                            last edited by

                                            @Alex-Kushleyev - thanks, I submitted the RMA request, will let you know after I have the chance to replace and test the replacement parts.
                                            Thanks, Hector

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