brianaustin

brianaustin

@Alex-Kushleyev
Received the new connector and everything now works! All cameras are operational and looking fantastic.

Thank you!

brianaustin

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: 0x00E2, Sensor Id: 0x7750
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
 640 x  480
 640 x  480
 640 x  480

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 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
 640 x  480 HAL_PIXEL_FORMAT_RAW10
 640 x  480 HAL_PIXEL_FORMAT_RAW12
 640 x  480 HAL_PIXEL_FORMAT_RAW16
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 3451

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	3451

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1266732525ns

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

I reconfigured and the tracking camera works! that was a first and thank you for that!

OK, I guess NOW we have determined the dual sensor connector board is defective?

brianaustin

@Alex-Kushleyev

Thanks! That worked

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: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
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
 640 x  480

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 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
 640 x  480 HAL_PIXEL_FORMAT_RAW10
 640 x  480 HAL_PIXEL_FORMAT_RAW12
 640 x  480 HAL_PIXEL_FORMAT_RAW16
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 3451

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	3451

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1266732525ns

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

Looks like I need to get a new dual connector or the other cable yeah?

brianaustin

@Alex-Kushleyev said in ov7251 tracking camera not being initialized with unsupported preview config:

ls /usr/lib/camera/sensormodule

voxl2:/$ ls -l /usr/lib/camera/*sensormodule*
-rw-r--r-- 1 root root 149272 Mar  4 14:48 /usr/lib/camera/com.qti.sensormodule.imx214_2.bin
-rw-r--r-- 1 root root 149272 Feb 27 21:14 /usr/lib/camera/com.qti.sensormodule.imx214_3.bin
-rw-r--r-- 1 root root 142472 Feb 27 21:14 /usr/lib/camera/com.qti.sensormodule.ov7251_2.bin
-rw-r--r-- 1 root root 142472 Mar  4 14:49 /usr/lib/camera/com.qti.sensormodule.ov7251_3.bin
-rw-r--r-- 1 root root  56280 Feb 27 21:14 /usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
-rw-r--r-- 1 root root  56280 Feb 27 21:14 /usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.bin

"disconnect OV7251 completely and test camera scan again (double check IMX214 is plugged in correctly, with flex cable pointing towards the center of the M0135 board). please let me know if IMX214 is detected"
Not detected

"keep OV7251 disconnected and plug IMX214 back into slot 3 and do the scan again to make sure IMX214 is detected in the slot 3, which was working before."
Detected

I don't have any other sensors to test out. Should I order the other sensor cable referenced in the picture you posted earlier?

brianaustin

@Alex-Kushleyev

I followed your instructions above and here is the output of the camera-server command

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: 2

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x00E4, Sensor Id: 0x7750
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: 2


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

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
 640 x  480

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 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
 640 x  480 HAL_PIXEL_FORMAT_RAW10
 640 x  480 HAL_PIXEL_FORMAT_RAW12
 640 x  480 HAL_PIXEL_FORMAT_RAW16
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 3451

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	3451

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1266732525ns


====================================
Stats for camera: 1

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
 640 x  480

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 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
 640 x  480 HAL_PIXEL_FORMAT_RAW10
 640 x  480 HAL_PIXEL_FORMAT_RAW12
 640 x  480 HAL_PIXEL_FORMAT_RAW16
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 3451

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	3451

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1266732525ns

====================================
Number of cameras detected: 2
====================================

the portal only shows Mulit-View but there are no streams shown and only a checkbox that I can select but no images. The Stereo Sensor does not work now either

It looks like some I2C bus errors in dmesg

[   16.550375] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base:        pK-error, M0_Q1 NACK ERROR: 0x10000000
[   16.550450] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
[   16.550460] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[   16.550467] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[   16.550476] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:
[   16.550600] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
[   16.554341] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
[   16.554478] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.55
[   16.554597] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
[   16.583851] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[   16.586402] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55
[   16.588680] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[   16.588811] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[   16.613251] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 391368884
[   16.613261] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE2
[   16.613269] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[   16.613276] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[   16.613447] CAM_ERR: CAM-CCI: cam_cci_irq: 258 Base:        pK-error, M1_Q0 NACK ERROR: 0x20000000
[   16.613507] CAM_ERR: CAM-CCI: cam_cci_wait: 270 failed rc -22
[   16.613514] CAM_ERR: CAM-CCI: cam_cci_transfer_end: 345 failed rc -22
[   16.613522] CAM_ERR: CAM-CCI: cam_cci_data_queue: 870 Slave: 0xe0 failed rc -22
[   16.613529] CAM_ERR: CAM-CCI: cam_cci_i2c_write: 1450 failed rc: -22
[   16.613536] CAM_ERR: CAM-SENSOR: cam_cci_i2c_write_table_cmd: 123 Failed rc = -22
[   16.613545] CAM_ERR: CAM-SENSOR: cam_sensor_set_alt_id: 768 [Applying Alternative Address] : Probe : camera_io_dev_write failed: rc=-22
[   16.613699] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[   16.613881] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0xe0:
[   16.613892] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[   16.613899] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[   16.613908] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x7750:
[   16.614039] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[   16.627984] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[   16.628331] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55
[   16.628548] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[   16.686142] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

brianaustin

@brianaustin

I found the cable in your link on the website. It was under the cables section and not the image sensor section. Would the dual sensor board not be valid for this setup?

brianaustin

@Alex-Kushleyev

Thanks for your reply.

I am using the M0135 dual image sensor adaptor board. Do I need to purchase the other cable? I cannot seem to find the cable show in the picture you sent on the website.

Dual Camera board setup(https://drive.google.com/file/d/15cP1_LKGKbd6saLSGSQwPfdW5WPTKezO/view?usp=sharing)

Thanks,
Brian

brianaustin

@Alex-Kushleyev said in ov7251 tracking camera not being initialized with unsupported preview config:

ls /usr/lib/camera/sensormodule

Thanks for the reply!

I have run the configuration for #3 when I set it up

voxl2:/$ ls /usr/lib/camera/sensormodule
/usr/lib/camera/com.qti.sensormodule.imx214_3.bin /usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_2.bin /usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.bin

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: 3

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x00E4, Sensor Id: 0x7750
DEBUG:   Cam idx: 2, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
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: 3

Here are the sensor libraries in /usr/lib/camera
com.qti.sensormodule.imx214_3.bin
com.qti.sensormodule.ov7251_2.bin
com.qti.sensormodule.ov7251_combo_0.bin
com.qti.sensormodule.ov7251_combo_1.bin

are these the correct bin files?

brianaustin

Hello,

I am trying to get my camera setup running with the Voxl2 and release 1.4.1
I have the following setup

ov7251 stereo pair
ov7251 tracking
imx214 hires

I can see the stereo images and the hires images in the portal but the tracking never shows up.
I get this error on camera server startup

ERROR: Camera 2 failed to find supported preview config: 640x480
WARNING: Failed to start cam tracking due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires (originally id #3) with id offset: 1

here is my config

{
	"version":	0.1,
	"fsync_en":	false,
	"fsync_gpio":	109,
	"cameras":	[{
			"type":	"ov7251",
			"name":	"stereo",
			"enabled":	true,
			"camera_id":	0,
			"camera_id_second":	1,
			"independent_exposure":	false,
			"fps":	30,
			"en_rotate":	false,
			"en_rotate_second":	false,
			"en_preview":	true,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	true,
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	33000,
			"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":	"ov7251",
			"name":	"tracking",
			"enabled":	true,
			"camera_id":	2,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	true,
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	33000,
			"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":	"imx214",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	3,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"small_venc_osd":	false,
			"en_large_video":	true,
			"large_video_width":	4208,
			"large_video_height":	3120,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"large_venc_osd":	false,
			"en_snapshot":	true,
			"en_snapshot_width":	4208,
			"en_snapshot_height":	3120,
			"exif_focal_length":	0,
			"exif_focal_length_in_35mm_format":	0,
			"exif_fnumber":	0,
			"ae_mode":	"isp",
			"gain_min":	54,
			"gain_max":	8000
		}]
}

J6 is the stereo camera setup
J7 is the tracking and hires using the dual connector adapter board

Any thoughts on why the resolution would be the problem? The "datasheet" seems to think that is fine

Thanks,
Brian

brianaustin

After trying the web interface as well as command line I am still not able to successfully flash the image. I keep getting the same error above. Regardless of what position the switch is on the device only shows up in QDL mode.

If there is no other method for force flashing the device (There does not appear to be any physical switch or button other then the one) do I need to submit an RMA?

This device worked fine and was finally able to get the cameras and everything working and it just stopped allowing adb and not showing up on my Linux PC. bummer

brianaustin

@brianaustin

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