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    Camera not being identified on J7U

    Video and Image Sensors
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    • Idan FikselI
      Idan Fiksel
      last edited by

      I am trying to connect an IMX412 and an AR0144 to the VOXL2 with a M0084 cable on J7. Below is the custom configuration file I created. The issue I'm encountering is that neither sensor is being identified on J7U when I run 'voxl-camera-server -l'. Is there a hardware constraint regarding these cameras that I am not aware of?

      J6_LOWER_SENSOR="pmd-tof-liow2"
      J6_LOWER_NAME="tof-rear"
      J6_LOWER_ROTATE="false"

      J6_UPPER_SENSOR=""
      J6_UPPER_NAME=""
      J6_UPPER_ROTATE="false"

      J7_LOWER_SENSOR="imx412"
      J7_LOWER_NAME="imx412_sensor_front"
      J7_LOWER_ROTATE="false"

      J7_UPPER_SENSOR="ar0144"
      J7_UPPER_NAME="ar0144_sensor_down"
      J7_UPPER_ROTATE="false"

      J8_LOWER_SENSOR="pmd-tof-liow2"
      J8_LOWER_NAME="tof_front"
      J8_LOWER_ROTATE="false"

      J8_UPPER_SENSOR=""
      J8_UPPER_NAME=""
      J8_UPPER_ROTATE="false"

      Q 1 Reply Last reply Reply Quote 0
      • Q
        QSL @Idan Fiksel
        last edited by

        @Moderator could you help us on this? Thanks!

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

          @QSL , are you using kernel variant 0 or 1?

          you can check using voxl-version, whether you see mach var 1.0.0 or 1.0.1.

          1.0.1 kernel is used with M0173 Starling Camera Front End due to I/O pin configuration specific to M0173.

          If you are not using M0173, for example when you use M0084 connected to VOXL2 J7, you need to switch to kernel variant 0. by either re-installing the VOXL2 SDK or relfashing the correct kernel from the SDK.

          cd voxl2_SDK_<voxl-sdk-version>/system-image
          adb reboot bootloader
          
          #flash variant 0
          fastboot flash boot_a m0054-1-var00.0-kernel.img
          fastboot flash boot_b m0054-1-var00.0-kernel.img
          
          #or flash variant 1
          fastboot flash boot_a m0054-1-var00.1-kernel.img
          fastboot flash boot_b m0054-1-var00.1-kernel.img
          
          #reboot
          fastboot reboot
          

          Alex

          Idan FikselI 1 Reply Last reply Reply Quote 0
          • Idan FikselI
            Idan Fiksel @Alex Kushleyev
            last edited by

            Thank you @Alex-Kushleyev, for the response. The current kernel variant is #1. I will flash variant #0 onto the voxl2. Does this kernel allow me to place a PMD sensor on J8 and J6, and have both be used simultaneously?

            Also can I connect two M0172 adaptors with a micro-coax as a way to connect the PMD to the VOXL2?
            alt text

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

              @Idan-Fiksel , yes two identical cameras (TOF in this case) should work on J6L and J8L. Two things to check in this case (I already verified):

              • make sure there is no CCI (I2C) slave address conflict, in other words the camera ports using different CCI busses. I verified this using https://docs.modalai.com/voxl2-connectors/ - J6L uses CCI0 bus (CAM0_CCI0) and J8L uses CCI1 bus (CAM4_CCI1)
              • make sure the camera driver is present for the camera slots you need (0 and 4):
              ls /usr/share/modalai/chi-cdk/irs2975c
              com.qti.sensormodule.irs2975c_0.bin  com.qti.sensormodule.irs2975c_2.bin  com.qti.sensormodule.irs2975c_4.bin
              com.qti.sensormodule.irs2975c_1.bin  com.qti.sensormodule.irs2975c_3.bin  com.qti.sensormodule.irs2975c_5.bin
              

              The last thing you may need to limit the maximum "exposure" of the TOF sensor (maximum emitted power) using voxl-camera-server.conf in order to prevent drawing too much current (in bursts. This will depend on other load on VOXL2's power supply, etc and will need testing to make sure that VOXL2's power supply is not affected by drawing too much current under full system load.

              Please consult the following document for the power consumption and different operating modes of the PMD TOF sensor : https://docs.modalai.com/M0178/#currentpower-consumption

              Alex

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