ov7251 tracking + imx214 hires not working

astro_phil

Hi ModalAI Team,

i trying to get the Tracking / Highres (ov7251 tracking imx214 hires) combination running on the VOXL2-mini without any succes.

Tested with SDK 1.3.5, 1.4.5, 1.5.1, swapped the camera, swapped the dual camera extender, nothing worked.
The Tracking camera works without an issues but the imx214 not.

[    9.961337] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[    9.961525] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
[    9.961545] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[    9.961560] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[    9.961571] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:

Any ideas how i can fix this ?

Alex Kushleyev

@astro_phil ,

Which camera connector (J6 or J7) are you using on VOXL2 mini? Also, have you sensormodule (camera driver) to /usr/lib/camera (assuming you are doing a manual configuration). See some details here : https://docs.modalai.com/configure-cameras/#connect-a-new-camera

Since the kernel is reporting that camera probing is failing, this could mean one of several things:

correct sensormodule for the camera and slot id is not present
incorrect kernel variant is used (should be 2.0.0)
a hardware issue in the interposer / camera

You can also check if the tracking camera works in the upper slot (where you have the IMX214 plugged in right now) and vice versa. Swapping the camera slots would require making sure you have correct mating orientation of the connectors and correct sensormodules available.

I just checked on voxl2 mini, we have the following sensormodules available:

voxl2-mini:/usr/share/modalai/chi-cdk/imx214$ ls
com.qti.sensormodule.imx214_0.bin  com.qti.sensormodule.imx214_3.bin
com.qti.sensormodule.imx214_2.bin  com.qti.sensormodule.imx214_4.bin

voxl2-mini:/usr/share/modalai/chi-cdk/ov7251$ ls
com.qti.sensormodule.ov7251_0.bin  com.qti.sensormodule.ov7251_2.bin  com.qti.sensormodule.ov7251_4.bin
com.qti.sensormodule.ov7251_1.bin  com.qti.sensormodule.ov7251_3.bin  com.qti.sensormodule.ov7251_5.bin

So you would not be able to get this combo to work on J6 (slot ids 0 and 1) because the imx214 sensormodule for slot 1 is missing (we did not add it by mistake), but J7 should work (slots 2 and 3). If you put IMX214 into lower slot, and tracking camera in upper slot, then you could use J6 : imx214 : slot 0, ov7251 : slot 1.

Additionally, make sure that you are using the correct kernel for voxl2 mini (it should be 2.0.0, not 2.0.2 when you are using the non coax cameras / interposers). you can check the kernel version using voxl-version and look at the top of the output, under mach. var (machine variant), should be 2.0.0. if not, re-install SDK and select the correct kernel variant during install.

Alex