@Alex-Kushleyev

Thank you for your detailed response and suggestions. Here's an update on the current situation:

Current Status:

• Camera is now working properly with video output
• VOXL Portal shows live video feed
• FPS: 10, Resolution: 640x480
• Camera streams: hires_color and hires_grey are both functional

Regarding your suggestions:

1. Cable Status: I am using a single M0036 cable (no extension).

2. logcat Command: The logcat | grep -i selected command doesn't work on VOXL2.

Current Configuration:

• IMX412 camera in J7L slot (slot 2)
• Single M0036 cable, no extensions
• Preview stream: 640x480 @ 10 FPS
• Camera server: running successfully

Thank you for your help in resolving this issue!

@Alex-Kushleyev

Final Update on M0036 Extension Cable Issue:

Actions Taken (Following Your Recommendations):

• Removed FPV driver (2.1Gbps): com.qti.sensormodule.imx412_fpv_2.bin
• Using lower bitrate driver (1.5Gbps): com.qti.sensormodule.imx412_2.bin
• Tested with 720p 30fps configuration (lower resolution as suggested)

Test Results:

• Direct connection: Works perfectly with 1.5Gbps driver
• M0036 extension cable: Still fails with "Received 0 buffers from camera hires"

Current Status:
Even after implementing your suggested solution (1.5Gbps driver + 720p resolution), the M0036 cable cannot handle IMX412 data transmission. The camera is detected, streams are configured successfully, but no data is transmitted through the cable.

Application Requirements:

• Target resolution: 720p (1280x720) for PC streaming
• Frame rate: 30fps
• Use case: Real-time video streaming from VOXL2 to PC

The M0036 extension cable appears to have compatibility issues with IMX412 even with the lower bitrate driver and reduced resolution settings.

Thank you for your continued support.

@Alex-Kushleyev

Thank you for your response. I have conducted the tests you suggested:

Test Results:

1. Direct connection (without M0036 extension cable):

   • SUCCESS: Camera works perfectly when connected directly to VOXL2
   • IMX412 camera is properly detected and functioning
   • No MIPI CSI lane overflow errors
   • Camera server reports cameras connected successfully

2. M0036 extension cable test:

   • FAILURE: Both M0036 extension cables I have exhibit the same problem
   • MIPI CSI lane overflow errors occur with both cables
   • Camera server reports "Found zero cameras connected"

Hardware Configuration:

• VOXL2 QRB5165M
• IMX412 camera module (M0107)
• Tested with 2 different M0036 extension cables
• Using official connectors, ports, and cables

Previous Experience:
I have used this same IMX412 + M0036 configuration before and it worked successfully. This suggests that the M0036 extension cables may have degraded over time or there might be a batch issue with the cables.
https://forum.modalai.com/topic/4461/voxl2-didn-t-detect-imx412-camera/7?_=1757372933541

Questions:

1. Since both of my M0036 extension cables are exhibiting the same MIPI CSI lane overflow issues, should I purchase new M0036 cables?
2. Are there any known issues with M0036 cable degradation over time?
3. Is there a way to test the M0036 cables independently to confirm they are the root cause?
4. Would you recommend any specific M0036 cable suppliers or should I purchase directly from ModalAI?

Thank you for your help in diagnosing this issue.

Hello,

I'm experiencing a "Received 0 buffers" error with my VOXL2 IMX412 camera. The camera is detected but no video output is being generated.

Hardware Configuration:

• VOXL2 Board: M0054 (MCCA-M0054-C26-T0-M0-X0)
• Camera: IMX412 M0107 (ModalAI)
• Slot: J7L (slot 2)
• Cable: M0036
• Gender: M0076
• SDK: 1.4.5
• System Image: 1.8.02

Problem:
voxl-camera-server detects the camera but no image data is being transmitted and no video output is generated.

Symptoms:

• Camera detection: "Number of cameras: 1"
• HAL3 module: Successfully opened
• Stream setup: Successfully configured
• GBM buffers: 16 buffers allocated
• Image data: "Received 0 buffers" error
• Video output: No video stream generated
• VOXL Portal: Empty Debug Stats table

Troubleshooting Attempted:

• Replaced all hardware (board, camera, cable, gender)
• Tested various software configurations
• System reboots
• Sensor module files verification and correction
• I2C communication confirmed
• Power supply confirmed stable

Key Debug Output:

Full Debug Output (voxl-camera-server -d0):

detected system image 1.8.2
using new imx412 defaults

configuration for 1 cameras:
cam #0
name: hires
sensor type: imx412
isEnabled: 1
camId: 0
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 640
pre_height: 480
en_raw_preview: 0
en_small_video: 0
small_video_width: 1024
small_video_height: 768
en_large_video: 0
large_video_width: 4056
large_video_height: 3040
en_misp: 0
misp_width: -1
misp_height: -1
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
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109

DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 1
VERBOSE: cci-direct: using voxl_platform_mod config 1 and 2 layout
DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
DEBUG: ------ voxl-camera-server: Starting 1 cameras
Starting Camera: hires (id #0)
DEBUG: Checking Gain limits for Camera: hires
DEBUG: Using gain limits min: 100 max: 8000
DEBUG: cam ID 0 checking for fmt: 35 w: 640 h: 480 o: 0
[format options list...]
VERBOSE: Successfully found configuration match for camera 0: 640x480
VERBOSE: Adding preview stream for camera: 0
DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000
VERBOSE: Dumping GBM flags
DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI
DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI
VERBOSE: Opened GBM fd
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Created GBM device
[16 buffer allocations...]
DEBUG: Successfully set up pipeline for stream: PREVIEW
VERBOSE: Entered thread: cam0-request(tid: 2861)
VERBOSE: Entered thread: cam0-result(tid: 2862)
DEBUG: Started Camera: hires
------ voxl-camera-server: Started 1 of 1 cameras
------ voxl-camera-server: Camera server is now running
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 0 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: finished sending request for frame 0 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera hires
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 1 for camera hires for 1 streams
VERBOSE: finished sending request for frame 1 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera hires
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 2 for camera hires for 1 streams
VERBOSE: finished sending request for frame 2 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera hires
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 3 for camera hires for 1 streams
VERBOSE: finished sending request for frame 3 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera hires
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 4 for camera hires for 1 streams
VERBOSE: finished sending request for frame 4 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera hires
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 5 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera hires, partial result:1
DEBUG: Value of standby_active is: 0
DEBUG: Value of standby_active is: 0
DEBUG: Value of standby_active is: 0
DEBUG
...
Let me reevaluate and take a different approach.

@Alex-Kushleyev

The issue has been resolved. Thank you for your help.

Hello, @Alex-Kushleyev

I'm having an issue where the IMX412 camera connected to J7L (camera slot 2) is detected but the camera server fails to start.

• Solutions Already Attempted:
  a) Sensor Module File Modification:
  - Copied /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_2.bin to
  - /usr/lib/camera/ directory

  b) Configuration File Modification:
  - In /etc/modalai/voxl-camera-server.conf
  - Set camId and camera_id to 2
  - Disabled MISP-related settings (en_misp: false, misp_venc_enable: false)

• Current Status:

  a) Camera Sensor Detection Status:
  - Successfully detected (sensor_id:0x577)
  - CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x34,sensor_id:0x577

  b) Camera Server Status:
  ● voxl-camera-server.service - voxl-camera-server
  Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled)
  Active: failed (Result: exit-code) since Wed 2025-06-04 05:05:08 UTC; 9min ago
  Process: 7181 ExecStart=/usr/bin/voxl-camera-server (code=exited, status=255)
  Main PID: 7181 (code=exited, status=255)

  c) Camera Server Logs:
  - ERROR: object missing misp_channels (I understand this error is not fatal)
  - Userspace process termination warning:
  CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died

  d) Sensor Module Files Status:
  total 5364
  -rwxr-xr-x 1 root root 9912 Nov 11 2024 com.qti.eeprom.cmk_imx577.so
  -rwxr-xr-x 1 root root 9912 Nov 11 2024 com.qti.sensor.imx412_fpv.so
  -rw-r--r-- 1 root root 97304 Jun 4 04:50 com.qti.sensormodule.imx412_fpv_2.bin
  -rw-r--r-- 1 root root 957344 Nov 11 2024 com.qti.tuned.cmk_imx577.bin
  -rw-r--r-- 1 root root 835464 Nov 11 2024 com.qti.tuned.cmk_ov9282.bin
  -rw-r--r-- 1 root root 931864 Nov 11 2024 com.qti.tuned.default.bin
  -rw-r--r-- 1 root root 957344 Nov 11 2024 com.qti.tuned.imx412_fpv.bin
  -rw-r--r-- 1 root root 793816 Nov 11 2024 com.qti.tuned.ov9782.bin
  -rw-r--r-- 1 root root 882376 Nov 11 2024 com.qti.tuned.sony_imx335.bin
  drwxr-xr-x 2 root root 4096 Nov 11 2024 components

  e) Current Configuration File Content:
  {
  "cameras": [
  {
  "name": "hires",
  "type": "imx412",
  "enabled": true,
  "camId": 2,
  "camId2": -1,
  "fps": 30,
  "en_rotate": 0,
  "en_rotate2": 0,
  "en_preview": false,
  "pre_width": 640,
  "pre_height": 480,
  "en_raw_preview": false,
  "en_small_video": true,
  "small_video_width": 640,
  "small_video_height": 480,
  "en_large_video": false,
  "large_video_width": 4056,
  "large_video_height": 3040,
  "en_misp": false,
  "misp_width": 4056,
  "misp_height": 3040,
  "en_snapshot": false,
  "snap_width": 4056,
  "snap_height": 3040,
  "exif_focal_length": 3.1,
  "exif_focal_len_35mm_format": 17,
  "exif_fnumber": 1.24,
  "ae_mode": "isp",
  "msv_exposure_min_us": 20,
  "msv_exposure_max_us": 33000,
  "gain_min": 54,
  "gain_max": 8000,
  "standby_enabled": false,
  "decimator": 1,
  "independent_exposure": false,
  "camera_id": 2,
  "preview_width": 640,
  "preview_height": 480,
  "small_venc_mode": "h264",
  "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,
  "large_venc_mode": "h264",
  "large_venc_br_ctrl": "cqp",
  "large_venc_Qfixed": 40,
  "large_venc_Qmin": 15,
  "large_venc_Qmax": 50,
  "large_venc_nPframes": 29,
  "large_venc_mbps": 40,
  "large_venc_osd": false,
  "en_snapshot_width": 4056,
  "en_snapshot_height": 3040,
  "exif_focal_length_in_35mm_format": 17,
  "snapshot_jpeg_quality": 75,
  "misp_venc_enable": false,
  "misp_venc_mode": "none",
  "misp_venc_br_ctrl": "cqp",
  "misp_venc_Qfixed": 38,
  "misp_venc_Qmin": 15,
  "misp_venc_Qmax": 50,
  "misp_venc_nPframes": 29,
  "misp_venc_mbps": 30,
  "misp_venc_osd": false,
  "misp_awb": "auto",
  "misp_gamma": 1.6
  }
  ],
  "fsync_en": false,
  "fsync_gpio": 109
  }

• Problem Summary:

  • Camera sensor is successfully detected (sensor_id:0x577)
  • Correct sensor module file (imx412_fpv_2.bin) is installed
  • Configuration file has camId and camera_id both set to 2
  • MISP-related settings are all disabled
  • However, camera server fails to start and userspace process terminates

• Additional Attempts Made:

  • Restarted camera server (systemctl restart voxl-camera-server)
  • Ran in debug mode (voxl-camera-server -d)
  • Checked system logs (dmesg | grep -i cam)
  • Disabled MISP-related settings

Are there any additional suggestions or things I should check to resolve this issue?

Thank you, @Alex-Kushleyev I'm attaching additional test results and logs.

In /usr/lib/camera/, only IMX412-related sensormodule files were kept; others were deleted.
/etc/modalai/voxl-camera-server.conf was configured for a single IMX412 (hires) camera.
voxl-camera-server was run in both foreground and debug modes.

I'm wondering if there are any additional areas I should check, or if there are any known issues related to the IMX412 (M0107) module, slot, or firmware. Also, if anyone has resolved similar symptoms, please share your experience.

voxl2:/$ dmesg | grep -i cam
[ 0.000000] OF: reserved mem: initialized node pil_camera_region@86200000, compatible id removed-dma-pool
[ 1.744872] msm-bus-type slv-qhs-camera-cfg: Linked as a consumer to regulator.34
[ 1.747294] cam_cc-kona ad00000.qcom,camcc: Linked as a consumer to regulator.1
[ 1.747302] cam_cc-kona ad00000.qcom,camcc: Linked as a consumer to regulator.34
[ 1.747355] register_client_adhoc:Client handle 25 clk_camcc_debugfs
[ 1.752561] cam_cc-kona ad00000.qcom,camcc: Registered CAM CC clocks
[ 1.923626] synx: registered bind ops for cam_sync
[ 1.923813] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_ife: Linked as a consumer to 15000000.apps-smmu
[ 1.923944] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_ife to group 27
[ 1.924130] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_jpeg: Linked as a consumer to 15000000.apps-smmu
[ 1.924236] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_jpeg to group 28
[ 1.924316] platform soc:qcom,cam_smmu:msm_cam_icp_fw: assigned reserved memory node pil_camera_region@86200000
[ 1.924446] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_icp: Linked as a consumer to 15000000.apps-smmu
[ 1.924595] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_icp to group 29
[ 1.924667] CAM_INFO: CAM-SMMU: cam_smmu_get_memory_regions_info: 3730 [icp] : Discard region specified [0xdff00000 0xe0200000] in [0x10c00000 0xfef00000]
[ 1.924754] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_cpas_cdm: Linked as a consumer to 15000000.apps-smmu
[ 1.924858] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_cpas_cdm to group 30
[ 1.925051] msm_cam_smmu soc:qcom,cam_smmu:msm_cam_smmu_fd: Linked as a consumer to 15000000.apps-smmu
[ 1.925153] iommu: Adding device soc:qcom,cam_smmu:msm_cam_smmu_fd to group 31
[ 1.925464] cam-cpas ac40000.qcom,cam-cpas: Linked as a consumer to regulator.79
[ 1.926382] register_client_adhoc:Client handle 57 cam_ahb
[ 1.926493] register_client_adhoc:Client handle 58 cam_hf_0_mnoc
[ 1.926608] register_client_adhoc:Client handle 59 cam_sf_0_mnoc
[ 1.926711] register_client_adhoc:Client handle 60 cam_sf_icp_mnoc
[ 1.927795] msm_cam_cdm ac4d000.qcom,cpas-cdm0: Linked as a consumer to regulator.79
[ 1.929515] cam_vfe acb4000.qcom,ife0: Linked as a consumer to regulator.79
[ 1.929526] cam_vfe acb4000.qcom,ife0: Linked as a consumer to regulator.75
[ 1.930316] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.930322] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.930801] cam_vfe acc3000.qcom,ife1: Linked as a consumer to regulator.79
[ 1.930812] cam_vfe acc3000.qcom,ife1: Linked as a consumer to regulator.76
[ 1.931564] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.931569] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.932027] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.932030] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.932044] cam_vfe acd9000.qcom,ife-lite0: Linked as a consumer to regulator.79
[ 1.932560] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.932564] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.932942] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.932945] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.932959] cam_vfe acdb200.qcom,ife-lite1: Linked as a consumer to regulator.79
[ 1.933444] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.933448] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.933869] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.933872] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.933885] cam_vfe acdd400.qcom,ife-lite2: Linked as a consumer to regulator.79
[ 1.934365] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.934370] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.934746] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.934749] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.934763] cam_vfe acdf600.qcom,ife-lite3: Linked as a consumer to regulator.79
[ 1.935243] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.935248] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.935624] CAM_INFO: CAM-UTIL: cam_soc_util_get_option_clk_by_name: 559 No clk data for ife_dsp_clk
[ 1.935627] CAM_WARN: CAM-ISP: cam_vfe_init_soc_resources: 154 Option clk get failed with rc -22
[ 1.935642] cam_vfe ace1800.qcom,ife-lite4: Linked as a consumer to regulator.79
[ 1.936135] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[ 1.936140] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[ 1.936616] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_init: 8806 Offline IFE thresholds max 720000000 nom 560000000 min360000000
[ 1.936619] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_init: 8806 Offline IFE thresholds max 720000000 nom 560000000 min360000000
[ 1.936707] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936720] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936733] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936746] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936758] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936771] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936783] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936795] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936808] CAM_ERR: CAM-ISP: cam_isp_context_debug_register: 5406 failed to create dentry
[ 1.936811] CAM_INFO: CAM-ISP: cam_isp_dev_probe: 163 Camera ISP probe complete
[ 1.937013] CAM_INFO: CAM: cam_res_mgr_probe: 685 Enable shared gpio support.
[ 1.937173] cam-cci-driver ac4f000.qcom,cci: Linked as a consumer to regulator.79
[ 1.937669] CAM_INFO: CAM-CCI: cam_cci_platform_probe: 454 Device Type :0
[ 1.937751] cam-cci-driver ac50000.qcom,cci: Linked as a consumer to regulator.79
[ 1.938064] CAM_INFO: CAM-CCI: cam_cci_platform_probe: 454 Device Type :1
[ 1.938203] cam-csiphy-driver ac6a000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938217] cam-csiphy-driver ac6a000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938257] cam-csiphy-driver ac6c000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938267] cam-csiphy-driver ac6c000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938305] cam-csiphy-driver ac6e000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938320] cam-csiphy-driver ac6e000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938361] cam-csiphy-driver ac70000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938371] cam-csiphy-driver ac70000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938406] cam-csiphy-driver ac72000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938416] cam-csiphy-driver ac72000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.938456] cam-csiphy-driver ac74000.qcom,csiphy: Linked as a consumer to regulator.79
[ 1.938466] cam-csiphy-driver ac74000.qcom,csiphy: Linked as a consumer to regulator.61
[ 1.939318] CAM_WARN: CAM-ICP: cam_a5_get_dt_properties: 46 QoS need not be set
[ 1.939336] cam-a5 ac00000.qcom,a5: Linked as a consumer to regulator.79
[ 1.939460] cam-ipe ac9a000.qcom,ipe0: Linked as a consumer to regulator.77
[ 1.939580] cam-bps ac7a000.qcom,bps: Linked as a consumer to regulator.74
[ 1.940484] cam-jpeg-enc ac53000.qcom,jpegenc: Linked as a consumer to regulator.79
[ 1.940605] cam-jpeg-dma ac57000.qcom,jpegdma: Linked as a consumer to regulator.79
[ 1.941031] CAM_INFO: CAM-JPEG: cam_jpeg_dev_probe: 162 Camera JPEG probe complete
[ 1.941167] cam_fd_hw ac5f000.qcom,fd: Linked as a consumer to regulator.79
[ 2.045399] CAM_ERR: CAM-CCI: cam_cci_assign_fops: 528 Invalid dev node:00000000bc36af2d offset: 0
[ 2.046187] cam_cc_sleep_clk_src: CXO configuration failed
[ 6.693838] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 6.703981] 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
[ 6.703985] 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
[ 6.704146] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 6.808437] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 6.808543] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 6.808588] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 6.808688] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 6.823354] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 6.823383] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 6.823389] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 6.823393] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 6.823398] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 6.823470] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 6.825555] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 6.825589] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 6.825643] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 6.866711] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 10.251798] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 10.276464] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 10.286710] 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
[ 10.286717] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 10.286726] 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
[ 10.349388] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 10.349501] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 10.349554] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 10.349658] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 10.364493] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 10.364593] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 10.364601] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 10.364606] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 10.364612] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 10.364710] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 10.366854] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 10.366904] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 10.366972] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 10.402561] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 11.788843] RTW: set pairwise key camid:0, addr:82:93:76:ba:1a:d1, kid:0, type:AES
[ 11.793321] RTW: set group key camid:1, addr:82:93:76:ba:1a:d1, kid:1, type:AES
[ 13.625836] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 13.638044] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 13.648196] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 13.648203] 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
[ 13.648206] 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
[ 13.666107] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 13.666296] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 13.666342] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 13.666432] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 13.681010] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 13.681042] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 13.681047] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 13.681050] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 13.681054] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 13.681134] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 13.683225] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 13.683262] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 13.683311] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 13.718822] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 135.786669] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 135.805905] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 135.816165] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 135.816181] 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
[ 135.816192] 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
[ 135.842587] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 135.842690] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 135.842712] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 135.842818] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 135.862220] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 135.862278] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 135.862288] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 135.862294] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 135.862302] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 135.862455] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 135.864362] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 135.864450] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 135.864546] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 135.913924] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[ 612.461063] RTW: set pairwise key camid:0, addr:22:2a:fd:f6:b1:d3, kid:0, type:AES
[ 612.470069] RTW: set group key camid:1, addr:22:2a:fd:f6:b1:d3, kid:1, type:AES
[ 755.451248] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[ 755.473531] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[ 755.483615] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[ 755.483622] 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
[ 755.483626] 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
[ 755.542979] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[ 755.543103] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[ 755.543157] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56
[ 755.543269] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[ 755.558053] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 755.558127] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34:
[ 755.558134] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 755.558138] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 755.558143] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577:
[ 755.558243] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[ 755.560357] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56
[ 755.560402] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[ 755.560452] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[ 755.606789] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
voxl2:/$
voxl2:/$ voxl-camera-server -d
voxl2:/$ cat /etc/modalai/voxl-camera-server.conf
{
"cameras": [
{
"name": "hires",
"type": "imx412",
"enabled": true,
"camId": 2,
"camId2": -2,
"fps": 30,
"en_rotate": 0,
"en_rotate2": 0,
"en_preview": true,
"pre_width": 640,
"pre_height": 480,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"en_large_video": true,
"large_video_width": 4056,
"large_video_height": 3040,
"en_misp": false,
"misp_width": -1,
"misp_height": -1,
"en_snapshot": false,
"snap_width": 4056,
"snap_height": 3040,
"exif_focal_length": 3.1,
"exif_focal_len_35mm_format": 17,
"exif_fnumber": 1.24,
"ae_mode": "isp",
"msv_exposure_min_us": 20,
"msv_exposure_max_us": 33000,
"gain_min": 54,
"gain_max": 8000,
"standby_enabled": false,
"decimator": 1,
"independent_exposure": false,
"camera_id": -1,
"preview_width": 640,
"preview_height": 480,
"small_venc_mode": "h264",
"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,
"large_venc_mode": "h264",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 40,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 40,
"large_venc_osd": false,
"en_snapshot_width": 4056,
"en_snapshot_height": 3040,
"exif_focal_length_in_35mm_format": 17,
"snapshot_jpeg_quality": 75,
"misp_venc_enable": true,
"misp_venc_mode": "h265",
"misp_venc_br_ctrl": "cqp",
"misp_venc_Qfixed": 38,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 29,
"misp_venc_mbps": 30,
"misp_venc_osd": false,
"misp_awb": "auto",
"misp_gamma": 1.6
}
],
"fsync_en": false,
"fsync_gpio": 109
}
voxl2:/$

voxl2:/$ ls /usr/lib/camera/
com.qti.eeprom.cmk_imx577.so
com.qti.sensor.imx412_fpv.so
com.qti.sensormodule.imx412_fpv_1.bin
com.qti.tuned.cmk_imx577.bin
com.qti.tuned.cmk_ov9282.bin
com.qti.tuned.default.bin
com.qti.tuned.imx412_fpv.bin
com.qti.tuned.ov9782.bin
com.qti.tuned.sony_imx335.bin
components
voxl2:/$

voxl2:/$ voxl-camera-server
using new imx412 defaults
ERROR: object missing misp_channels

configuration for 1 cameras:

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

en_preview:          1
pre_width:           640
pre_height:          480
en_raw_preview:      0

en_small_video:      1
small_video_width:   1024
small_video_height:  768

en_large_video:      1
large_video_width:   4056
large_video_height:  3040

en_misp:             0
misp_width:          -1
misp_height:         -1

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
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

fsync_en: 0
fsync_gpio: 109

voxl2:/$

1. Hardware Configuration

• VOXL2 QRB5165M ( * 2)
• IMX412 camera module (M0107) ( * 2)
• Tested both with and without the extension cable (M0036) ( * 2)
• Using official connectors, ports, and cables

Questions

1. With a direct connection (without an extension cable), given that voxl-camera-server -l detects one camera, but dmesg shows sensor ID read failures, could my hardware setup (connectors, pinout, cable integrity, extension cable) still be the root cause, despite the initial detection?

2. Do the repeated I2C errors (read id: 0x0 expected id 0x356) strongly indicate a faulty IMX412 sensor, or is it more likely a persistent cable/connection issue that dmesg is reflecting?

3. Are there any further diagnostic steps or voxl- tools I can use to specifically debug I2C communication with the camera sensor on the VOXL2, especially given the ERROR: object missing misp_channels message from voxl-camera-server?

4. Are there any known compatibility issues or specific driver/firmware quirks with the IMX412 (M0107) on VOXL2, particularly with the configuration I'm using or when using the M0036 extension cable? I suspected a hardware issue, so I tried swapping out the board, cable, and camera with a spare set I have, but the problem persists.