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    M0084 with VOXL2 Mini Unable to detecto camera on Upper Slot

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    • A
      awagner
      last edited by

      I have a VOXL 2 Mini and am trying to use an ar0144 and a imx412 on the M0084 cable on J6. I was unable to get whatever camera I put on JU to be detected when I ran voxl-camera-server. I reverted to testing with two ar0144 cameras to reduce variables. I also tested with another M0084 cable I had and the issue persisted. I also tested on J7 and had the same issue. Let me know if there is something I am missing to fix this or more information is needed.

      VOXL2 Mini Info:

      system-image: 1.8.06-M0104-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Oct 22 05:43:49 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0104
mach.var:     2.0.2
SKU:          TF-M0104-6-V1-C6
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.6.0

      Current /data/modalai/custom_camera_config.txt:

      J6_LOWER_SENSOR="ar0144"
J6_LOWER_NAME="tracking1"
J6_LOWER_ROTATE="false"


J6_UPPER_SENSOR="ar0144"
J6_UPPER_NAME="tracking2"
J6_UPPER_ROTATE="false"

      Current /etc/modalai/voxl-camera-server.conf from running voxl-configure-cameras:

      {
	"version":	0.1,
	"fsync_en":	false,
	"fsync_gpio":	109,
	"cameras":	[{
			"type":	"ar0144",
			"name":	"tracking1",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	1280,
			"preview_height":	800,
			"en_raw_preview":	true,
			"en_misp":	true,
			"misp_width":	1280,
			"misp_height":	800,
			"misp_venc_enable":	true,
			"misp_venc_mode":	"h265",
			"misp_venc_br_ctrl":	"cbr",
			"misp_venc_Qfixed":	38,
			"misp_venc_Qmin":	15,
			"misp_venc_Qmax":	50,
			"misp_venc_nPframes":	9,
			"misp_venc_mbps":	1.2,
			"misp_venc_osd":	false,
			"misp_awb":	"auto",
			"misp_gamma":	1,
			"misp_zoom":	1,
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	12000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}, {
			"type":	"ar0144",
			"name":	"tracking2",
			"enabled":	true,
			"camera_id":	1,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	1280,
			"preview_height":	800,
			"en_raw_preview":	true,
			"en_misp":	true,
			"misp_width":	1280,
			"misp_height":	800,
			"misp_venc_enable":	true,
			"misp_venc_mode":	"h265",
			"misp_venc_br_ctrl":	"cbr",
			"misp_venc_Qfixed":	38,
			"misp_venc_Qmin":	15,
			"misp_venc_Qmax":	50,
			"misp_venc_nPframes":	9,
			"misp_venc_mbps":	1.2,
			"misp_venc_osd":	false,
			"misp_awb":	"auto",
			"misp_gamma":	1,
			"misp_zoom":	1,
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	12000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}]
}

      Output of dmesg -w when I run voxl-camera-server -l

      [   42.046949] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[   42.059621] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[   42.069812] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[   42.069836] 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
[   42.069855] 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
[   42.096646] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
[   42.098798] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56
[   42.100172] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
[   42.100223] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
[   42.123534] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356
[   42.123597] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
[   42.127655] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
[   42.127690] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56
[   42.127719] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
[   42.137439] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[   42.139590] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[   42.141850] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[   42.141938] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[   42.167191] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[   42.167345] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x30:
[   42.167361] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[   42.167374] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[   42.167389] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x356:
[   42.167602] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[   42.172372] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[   42.172686] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[   42.172868] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[   42.242714] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

      Photo of setup: voxl-cam-setup-smaller.jpg

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

        @awagner

        You have the wrong kernel variant installed (2.0.2 instead of 2.0.0) on your voxl2 mini. You should re-install the SDK and select the correct kernel.

        On the VOXL2 Mini, kernel versions 2.0.0 and 2.0.2 are ModalAI hardware/kernel variant identifiers (mach.var) used to select the correct device-tree and hardware configuration for different carrier/camera setups.

        The key practical difference is:

        Variant | Intended Hardware Configuration
        2.0.0 | Standard VOXL2 Mini configuration / legacy non-coax adapters (what you are using)
        2.0.2 | VOXL2 Mini configured for the M0188, M0194, M0195 and other u-coax camera adapters

        When flashing the SDK, the installer exposes this as:

        • Standard VOXL2 Mini (2.0.0)
        • VOXL2 Mini with M0188 Camera Breakout Board (2.0.2)

        Alex

        A 1 Reply Last reply Reply Quote 0
        • A
          awagner @Alex Kushleyev
          last edited by

          @Alex-Kushleyev Thank you that fixed it for J6. Is there a reason the same config doesn't work on J7? Ideally was hoping to use J7 since it works better for our layout purposes.

          I can get J6U-ar0144 and J6L-imx412 to work but not J7U-ar0144 and J7L-imx412 or J7U-imx412 and J7L-ar0144. For both it cannot find the lower sensor.

          Also is there a reason the imx412 driver does not exist for J6 upper?

          1 Reply Last reply Reply Quote 0
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