Hello, I'm trying to use LAN7800 with a VOXL2. I'm on SDK 1.4 with an EVB-LAN7800LC-1 evaluation board.

I've seen that the lan78xx driver requires Linux kernel 4.3+ but even though the VOXL is on 4.19.125, it looks like there's support for lan78xx?

I've confirmed that the adapter works on my Windows laptop, but the following is what happens when I connect it to the VOXL2 on the M0151's port

voxl2:/$ dmesg | grep lan78
[    1.869189] usbcore: registered new interface driver lan78xx
[    3.326980] libphy: lan78xx-mdiobus: probed
[    4.342277] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342307] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342340] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342365] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342462] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342487] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342520] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.869096] libphy: lan78xx-mdiobus: probed
[   12.810643] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810685] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810735] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810772] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.810881] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810931] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810966] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.811009] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   13.329593] libphy: lan78xx-mdiobus: probed
[   27.122628] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122673] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.122818] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123017] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.123056] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123108] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.657519] libphy: lan78xx-mdiobus: probed
[   28.098415] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098467] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098525] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098569] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098770] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098827] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.610233] libphy: lan78xx-mdiobus: probed
[   30.898654] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898721] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898781] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.898821] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.898994] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.899056] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.899097] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.899146] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   31.412477] libphy: lan78xx-mdiobus: probed
[   32.814550] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814604] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814662] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.814832] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.814989] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.815030] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.815088] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   33.326810] libphy: lan78xx-mdiobus: probed
[   33.476910] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000424. ret = -71
[   33.477263] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000420. ret = -71
.
.
.
[   42.338752] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339081] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   42.339126] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339185] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   42.863468] libphy: lan78xx-mdiobus: probed
[   44.298561] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298614] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298674] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298720] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298867] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298911] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298966] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.813080] libphy: lan78xx-mdiobus: probed
[   45.258417] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258469] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258651] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258697] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258842] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258886] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258942] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.774138] libphy: lan78xx-mdiobus: probed
[   46.226421] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226472] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226529] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226572] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226716] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226759] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226814] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.741781] libphy: lan78xx-mdiobus: probed
[   50.346684] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346739] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346801] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.346847] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.346991] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.347061] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.347107] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.347164] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.607172] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.607688] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.608208] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.608668] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to write register index 0x00000010. ret = -71
[   50.610775] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.612909] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.615291] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.617395] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.619530] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.621638] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.624239] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.626414] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.628507] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.630636] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.632776] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.635169] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.637805] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.639887] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.642301] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.644417] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.646512] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.648658] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.650747] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.653185] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.655546] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.657652] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.659752] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
.
.
.
[   51.611757] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614032] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614038] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): timeout on completion of LiteReset
[   51.614043] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Registers INIT FAILED....
[   51.614089] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Bind routine FAILED
[   51.615072] lan78xx: probe of 2-1:1.0 failed with error -5

@Alex-Kushleyev This looks pretty good, thanks!

If I'm understanding correctly, with one M0159, one M0181, and one M0155, I'd be able to connect all three sensors (OV64, boson, M0161) on a VOXL2/VOXL2 mini?

If that's the case, I'd be interested in experimenting with that setup. What would the process for getting these boards look like?

For the connection between the boards, what's the longest length coax I could get or use reliably?

@Alex-Kushleyev I appreciate the detailed response!

We'd be open to experimenting with some of this hardware. Is a picture of the M0159 (not schematics) something we could get?

As for an initial use case:

• OV64B: 30fps, 720p/1080p
• Boson: 30fps, 640x512, MIPI
• M0161 IMX412: This is what's currently interfaced with the M0173. What would it take to include this in the setup?

@Alex-Kushleyev I don't have the hadron itself on hand at the moment. I'm just doing some preliminary reading and planning for when we do get it.

We have a G-Hadron gimbal and accompanying G-Hadron RB5 adapter, which together will expose the boson through USB and the OV64B through MIPI.

Do you have a link to the M0159? I haven't been able to find it. If possible, I'd rather not connect the boson over USB.

@Alex-Kushleyev

I'm using a Hadron 640R with a VOXL2 (for now, but we plan on switching to a VOXL2 mini eventually). I also have a M0173 adapter board.

So far, I've only done some calcs for 35mm focal length:
With f = 4.8mm and D = 8.15mm, I get 35FL = 25.48mm
To make it an int, f = 4.75 and D = 8.2 is an option.

Hello, I'm seeing in the documentation and in the code that ov64b sensors are supported by SDK 1.4. I've confirmed that the bins exist in chi-cdk.

However, I'm not seeing any information/documentation on camera configs nor any default camera-server configs in the source code for this sensor.

How do I go about using it with voxl-camera-server.conf?

@Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file

@modaltb yup, a single IMX412 on M0173 J5.

I've removed all the other com.qti.sensormodule*.bin files. These are the outputs I get when I run voxl-camera-server -l and voxl-camera-server with and without tracking_front enabled in the config file.

As you can see, I'm still getting the same strange behaviour.

Default C28:

voxl2:/$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:          of configurations that have full pipelines

DEBUG:   Number of cameras: 1


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x  720
1280 x  720

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  512 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
        min = 100
        max = 35200

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
        2200

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
        min = 0ns
        max = 243753000ns

====================================
Number of cameras detected: 1
====================================

voxl2:/$ voxl-camera-server
detected system image 1.7.10
using new imx412 defaults
detected system image 1.7.10
using new imx412 defaults
=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking_front
    sensor type:         ar0144
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                hires_front
    sensor type:         imx412
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      0
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         0
    snap_width:          4056
    snap_height:         3040
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                hires_down
    sensor type:         imx412
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      1
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         1
    snap_width:          4056
    snap_height:         3040
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #3
    name:                tracking_down
    sensor type:         ar0144
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
Starting Camera: tracking_front (id #0)
Connected to cpu-monitor
ERROR:   Camera 0 failed to find supported preview config: 1280x800
WARNING: Failed to start cam tracking_front due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires_front (originally id #1) with id offset: 1
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires_down (originally id #2) with id offset: 1
WARNING: cam hires_down (id 1) does not seem to be alive
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive

------ voxl-camera-server: Started 1 of 4 cameras

------ voxl-camera-server: Camera server is now running

C28 with tracking_front disabled:

voxl2:/$ voxl-camera-server -l
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:          of configurations that have full pipelines

DEBUG:   Number of cameras: 1


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x  720
1280 x  720

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  512 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
        min = 100
        max = 35200

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
        2200

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
        min = 0ns
        max = 243753000ns

====================================
Number of cameras detected: 1
====================================

voxl2:/$ voxl-camera-server
detected system image 1.7.10
using new imx412 defaults
detected system image 1.7.10
using new imx412 defaults
=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking_front
    sensor type:         ar0144
    isEnabled:           0
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                hires_front
    sensor type:         imx412
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      0
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         0
    snap_width:          4056
    snap_height:         3040
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                hires_down
    sensor type:         imx412
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      1
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         1
    snap_width:          4056
    snap_height:         3040
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #3
    name:                tracking_down
    sensor type:         ar0144
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
Skipping Camera: tracking_front, configuration marked disabled
Starting Camera: hires_front (id #1)
WARNING: cam hires_front (id 1) does not seem to be alive
Starting Camera: hires_down (id #2)
WARNING: cam hires_down (id 2) does not seem to be alive
Starting Camera: tracking_down (id #3)
WARNING: cam tracking_down (id 3) does not seem to be alive
ERROR:   failed to initialize any cameras

------ voxl-camera-server: Started 0 of 4 cameras

------ voxl-camera-server: Camera server is now running

------ voxl-camera-server: Camera server is now stopping
Connected to cpu-monitor

------ voxl-camera-server: Camera server exited gracefully, returning -1

@jcai said in VOXL2 Camera Configuration not found:

@tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

Thanks Travis, I was able to get a build with the correct configuration options as well as my own changes. However, the issues I described above are still present. Could this be a hardware fault?

Also, I have a custom kernel build (that wasn't being used during my issues in my last comment) created by following this guide: https://docs.modalai.com/voxl2-kernel-build-guide/

The only change I made in this kernel was to enable CONFIG_MACVLAN=y by editing kona-perf_defconfig in

apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/configs/m0054

However, as you said, this kernel version doesn't support the M0173 breakout board. How do I build a version that does while also adding my macvlan config?