KLindgren

KLindgren

@Eric-Katzfey got it, thank you for the info.

KLindgren

@Alex-Kushleyev, we thankfully came across the ROS publisher queue size limit when debugging IMU1 timing and have since increased the queue size to 25.

@Eric-Katzfey, is it possible to get a clean ~200 Hz sampling of data from the px4 imu/imu_mavlink? Even setting HIGHRES_IMU to the low value of 100 produces the distribution of timestamp deltas below.

KLindgren

@Eric-Katzfey hoping you can share some more insights here.

I have edited the HIGHRES_IMU line in /usr/bin/voxl-px4-start to set the rate at 500 but the /imu_mavlink rostopic from voxl-mpa-to-ros shows a publish rate of ~137hz. Collected data with voxl logger shows the timing issue is not related to ROS -- do you know what may be causing the dropped imu messages in the mpa pipe?

voxl-version

────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.04-M0104-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Mar 24 21:03:36 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0104
mach.var:     2.0.2
SKU:          MCCA-M0104-C22-T0-M0-X0-E1
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.5.0
────────────────────────────────────────────────────────────────────────────────

voxl-px4-start

#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

echo -e "\n*************************"
echo "AIRFRAME: $AIRFRAME"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "ARTIFACT_MODE: $ARTIFACT_MODE"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
	echo -e "\t$i"
done
echo -e "*************************\n"

# In order to just exit after starting the uorb / muorb modules define
# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
# This is useful for testing / debug where you may want to start drivers
# and modules manually from the px4 command shell
if [ ! -z $MINIMAL_PX4 ]; then
    /bin/echo "Running minimal script"
    exit 0
fi

# Figure out what platform we are running on.
PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
    # If we couldn't get the platform from the voxl-platform utility then check
    # /etc/version to see if there is an M0052 substring in the version string. If so,
    # then we assume that we are on M0052.
    VERSIONSTRING=$(</etc/version)
    M0052SUBSTRING="M0052"
    if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
        PLATFORM="M0052"
    fi
fi

# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
    /bin/echo "Running on M0052"
elif [ $PLATFORM = "M0054" ]; then
    /bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
    /bin/echo "Running on M0104"
else
    /bin/echo "Error, cannot determine platform!"
    exit 0
fi

# Sleep a little here. A lot happens when the uorb and muorb start
# and we need to make sure that it all completes successfully to avoid
# any possible race conditions.
/bin/sleep 1

param select /data/px4/param/parameters

# Load in all of the parameters that have been saved in the file
param load

# IMU (accelerometer / gyroscope)
if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
    qshell icm42688p start -s -R 12
else
    /bin/echo "Starting IMU driver with no rotation"
    qshell icm42688p start -s
fi

# Start Invensense ICP 101xx barometer built on to VOXL 2
qshell icp101xx start -I -b 5

qshell temperature_compensation start

# Auto detect the magnetometer. If one or both of these devices
# are not connected it will fail but not cause any harm.
# Rotation 10 = ROLL_180_YAW_90
/bin/echo "Looking for qmc5883l magnetometer"
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1
/bin/echo "Looking for ist8308 magnetometer"
# Rotation 12 = PITCH_180
qshell ist8308 start -R 12 -X -b 1

# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
	# On M0052 the GPS driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
	    gps start -d /dev/ttyHS2
	# On M0054 and M0104 the GPS driver runs on SLPI DSP
	else
	    qshell gps start
	fi
fi

# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
# fail but not cause any harm.
/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

# We do not change the following parameters but QGC will complain if they aren't
# being reported as "used" by px4. "Touching" them accomplishes that.
param touch SYS_AUTOCONFIG
param touch SDLOG_MODE

# ESC driver
if [ "$ESC" == "VOXL_ESC" ]; then
    /bin/echo "Starting VOXL ESC driver"
	qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
	if [ "$RC" == "M0065_SBUS" ]; then
		/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
		qshell voxl2_io start
	else
		/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
		qshell voxl2_io start -e
	fi
else
	/bin/echo "No ESC type specified, not starting an ESC driver"
fi


# RC driver
if [ "$RC" == "FAKE_RC_INPUT" ]; then
    /bin/echo "Starting fake RC driver"
    qshell rc_controller start
elif [ "$RC" == "CRSF_RAW" ]; then
    /bin/echo "Starting CRSF RC driver"
    qshell crsf_rc start -d 7
elif [ "$RC" == "CRSF_MAV" ]; then
    /bin/echo "Starting TBS crossfire RC - MAV Mode"
    qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
    /bin/echo "Starting Spektrum RC"
	# On M0052 the RC driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
        rc_input start -d /dev/ttyHS1
	# On M0054 and M0104 the RC driver runs on SLPI DSP
	else
        qshell spektrum_rc start
	fi
elif [ "$RC" == "GHST" ]; then
    /bin/echo "Starting GHST RC driver"
    qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
	if [ $PLATFORM = "M0052" ]; then
		apps_sbus start
	elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
    	/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
    	qshell dsp_sbus start
		retVal=$?
		if [ $retVal -ne 0 ]; then
	    	/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
	    	/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
			qshell voxl2_io start -d -p 7
		fi
	else
    	/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
	fi
fi

if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
	# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
	qshell lightware_laser_serial start -d 7
fi

if [ "$POWER_MANAGER" == "VOXLPM" ]; then
	# APM power monitor
	qshell voxlpm start -X -b 2
fi

if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
	qshell ms4525do start -X -b 4
fi

# Optional distance sensor on spare i2c
# qshell vl53l0x start -X -b 4
# qshell vl53l1x start -X -b 4

# Start all of the processing modules on DSP
qshell sensors start
qshell ekf2 start

if [ "$AIRFRAME" == "FIXED_WING" ]; then
	qshell fw_pos_control start
	qshell fw_att_control start
	qshell fw_rate_control start
	qshell airspeed_selector start
	qshell fw_autotune_attitude_control start
	qshell land_detector start fixedwing
elif [ $AIRFRAME = "MULTICOPTER" ]; then
	qshell mc_pos_control start
	qshell mc_att_control start
	qshell mc_rate_control start
	qshell mc_hover_thrust_estimator start
	qshell mc_autotune_attitude_control start
	qshell land_detector start multicopter
fi

qshell manual_control start
qshell control_allocator start
qshell load_mon start

# Only start the rc_update module if an actual RC driver
# is publishing input_rc topics. Otherwise for external RC
# over Mavlink this isn't needed.
if [ "$RC" != "EXTERNAL" ]; then
	qshell rc_update start
fi

qshell commander start

# This is needed for altitude and position hold modes
qshell flight_mode_manager start

# Start all of the processing modules on the applications processor
dataman start
navigator start
load_mon start

# Start microdds_client for ros2 offboard messages from agent over localhost
microdds_client start -t udp -h 127.0.0.1 -p 8888

# On M0052 there is only one IMU. So, PX4 needs to
# publish IMU samples externally for VIO to use.
if [ $PLATFORM = "M0052" ]; then
	imu_server start
fi

# start the onboard fast link to connect to voxl-mavlink-server
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

# slow down some of the fastest streams
mavlink stream -u 14556 -s HIGHRES_IMU -r 500
mavlink stream -u 14556 -s ATTITUDE -r 100
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 100
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

# Increase heartbeat rate so VFC can get faster mode updates
mavlink stream -u 14556 -s HEARTBEAT -r 100

# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink boot_complete

# Optional MSP OSD driver for DJI or HDZero goggles
# This is only supported on M0054 (with M0125 accessory board)
if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then
    /bin/echo "Starting DJI OSD driver"
    msp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then 
    /bin/echo "Starting $OSD OSD driver for $PLATFORM"
    msp_dp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then
	/bin/echo "Starting $OSD OSD driver for $PLATFORM"
	msp_dp_osd start -d /dev/ttyHS0
fi

# Start optional EXTRA_STEPS
for i in "${EXTRA_STEPS[@]}"
do
	$i
done

if [ "$ARTIFACT_MODE" == "ENABLE" ]; then
	# Do not start the logger module if we are in artifact mode. Logging
	# produces a log artifact. If there are currently any saved logs make
	# sure to delete them now.
	# Also remove the data manager file that may have saved GPS waypoint information
	# in it.
	# Use shred to remove all files so that they cannot be recovered.
	# shred should be effective on the /data partition since it has this configuration:
	# /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0
	/usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} \;
	/bin/rm -fR /data/px4/log
	/usr/bin/shred -u -n 7 /data/px4/dataman
    /bin/echo "Artifact mode has been enabled"
else
	# Start logging and use timestamps for log files when possible.
	# Add the "-e" option to start logging immediately. Default is
	# to log only when armed. Caution must be used with the "-e" option
	# because if power is removed without stopping the logger gracefully then
	# the log file may be corrupted.
	# This is done as the last step because any topics marked as optional will only
	# be logged if they have been advertised when this is started. By starting it last it
	# makes sure to see those advertisements as the other modules are starting before it.
	logger start -t
fi

KLindgren

@Jetson-Nano Our 2 Leptons are connected as described in this image - though we're using PureThermal boards instead of M0187s for the Leptons. The 3.3V VIN is provided from the VOXL's J19 port via this cable and a "Y" split jumper we've soldered together.

KLindgren

@Alex-Kushleyev I'm unfortunately still seeing the same result with no cameras being detected from voxl-camera-server -l. I've tried J6 with the Lower slot on M0084 and the appropriate camera config which loads the correct .bin file to /usr/lib/camera/. I get the same result with both the AR0144 and the OV7251. Though I do hear the OV7251 when it's connected. Any other ideas you have to try other than replacing the M0084 connection cable?

KLindgren

@Jetson-Nano our images looked the same as yours when providing power to the PureThermal from the sparrow board (m0188) but using a 3.3V from the voxl2 mini fixed the issue and gives us this imagery.

We are using power from the voxl2 mini's J19 and currently working on running 2 leptons with an RGB using the sparrow board.

KLindgren

@Alex-Kushleyev thank you for the additional tips. Running voxl-configure-cameras appears to work properly but after a reboot I get some CAM_ERR messages in the output of dmesg -w and don't see any cameras listed despite having com.qti.sensormodule.ar0144_3.bin as the only .bin in /usr/lib/camera/. Do the error messages from dmesg make sense to you?

voxl2-mini:/$ voxl-configure-cameras 

Available camera config IDs are as follows:

22 - M0188 Stinger Dual AR0144
33 - M0188 Stinger IMX664 + dual AR0144
34 - M0195 Stinger IMX664 + dual AR0144 + boson
35 - RESERVED for Future Stinger Config
38 - M0188 Sparrow IMX664 + Triple AR0144
50 - MVX-T0001 voxl2 mini hires imx664
51 - MVX-T0001 voxl2 mini hires imx664 + boson
52 - MVX-T0001 voxl2 mini dual hires imx664 + boson
 C - use user-defined custom camera config in
     (/data/modalai/custom_camera_config.txt)
 q - Quit The Wizard

selection: c
Selecting custom camera config
Camera Configuration: custom

camera server config helper list:
tracking1200:ar0144:0:

driver binary list:
/usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin

calling camera-server-config-helper tracking1200:ar0144:0:
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
successfully wrote this camera config to disk:
=================================================================
configuration for 1 cameras:

cam #0
    name:                tracking1200
    sensor type:         ar0144
    isEnabled:           1
    camId:               0
    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_misp:             1
    misp_width:          1280
    misp_height:         800

    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: 12000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done
camera-server-config-helper succeeded on attempt 1
leaving fsync pin off
copying required camera drivers in place
/usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin
enabling voxl-camera-server

------------------------------------------------------------------
Done Configuring Cameras
Please power cycle VOXL to load new drivers
camera server will start on next reboot
------------------------------------------------------------------

dmesg -w

[    2.501817] **********************************************************
[    2.501820] **   NOTICE NOTICE NOTICE NOTICE NOTICE NOTICE NOTICE   **
[    2.501822] **                                                      **
[    2.501824] ** trace_printk() being used. Allocating extra memory.  **
[    2.501826] **                                                      **
[    2.501827] ** This means that this is a DEBUG kernel and it is     **
[    2.501829] ** unsafe for production use.                           **
[    2.501831] **                                                      **
[    2.501832] ** If you see this message and you are not debugging    **
[    2.501834] ** the kernel, report this immediately to your vendor!  **
[    2.501836] **                                                      **
[    2.501838] **   NOTICE NOTICE NOTICE NOTICE NOTICE NOTICE NOTICE   **
[    2.501839] **********************************************************
[    2.533908] kona-pinctrl f000000.pinctrl: invalid function func2 in map table
[    2.533918] kona-pinctrl f000000.pinctrl: invalid function func2 in map table
[    2.533938] kona-pinctrl f000000.pinctrl: invalid function func2 in map table
[    2.533941] kona-pinctrl f000000.pinctrl: invalid function func2 in map table
[    2.552474] voxl_fsync_mod_init
[    2.552615] voxl_fsync_probe
[    2.552698] voxl_fsync_probe : OK
[    2.553718] voxl-gpio init
[    2.554178] voxl_gpio_probe
[    2.554278] voxl-gpio: gpio0 - output, high
[    2.554303] voxl-gpio: gpio1 - output, high
[    2.554337] voxl-gpio: gpio53 - output, high
[    2.554365] voxl-gpio: gpio56 - output, high
[    2.554391] voxl-gpio: gpio57 - output, high
[    2.554419] voxl-gpio: gpio85 - output, high
[    2.554440] voxl-gpio: gpio86 - output, high
[    2.554469] voxl-gpio: gpio87 - output, high
[    2.554493] voxl-gpio: gpio88 - output, high
[    2.554520] voxl-gpio: gpio89 - output, high
[    2.554543] voxl-gpio: gpio124 - output, high
[    2.554568] voxl-gpio: gpio152 - output, high
[    2.554592] voxl-gpio: gpio157 - output, high
[    2.554614] voxl-gpio: gpio159 - output, high
[    2.554641] voxl-gpio: gpio36 - output, low
[    2.554667] voxl-gpio: gpio37 - output, low
[    2.554690] voxl-gpio: gpio46 - output, low
[    2.554715] voxl-gpio: gpio54 - output, low
[    2.554738] voxl-gpio: gpio55 - output, low
[    2.554759] voxl-gpio: gpio67 - output, low
[    2.554785] voxl-gpio: gpio82 - output, low
[    2.554804] voxl-gpio: gpio83 - output, low
[    2.554823] voxl-gpio: gpio84 - output, low
[    2.554848] voxl-gpio: gpio131 - output, low
[    2.554873] voxl-gpio: gpio153 - output, low
[    2.554897] voxl-gpio: gpio154 - output, low
[    2.554919] voxl-gpio: gpio155 - output, low
[    2.554943] voxl-gpio: gpio48 - input
[    2.554965] voxl-gpio: gpio49 - input
[    2.554989] voxl-gpio: gpio50 - input
[    2.555010] voxl-gpio: gpio51 - input
[    2.555036] voxl-gpio: gpio52 - input
[    2.555038] voxl-gpio probe complete
[    2.555797] voxl-platform init
[    2.555921] voxl_platform_probe
[    2.555977] voxl-platform: Machine: - ID - 2
[    2.555980] voxl-platform: Variant: - ID - 0
[    2.555981] voxl-platform: Config: - ID - 2
[    2.555982] voxl-platform probe complete
[    2.820392] usb 2-1: new SuperSpeed Gen 1 USB device number 2 using xhci-hcd
[    2.843542] usb 2-1: New USB device found, idVendor=0b95, idProduct=1790, bcdDevice= 1.00
[    2.843547] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[    2.843550] usb 2-1: Product: AX88179
[    2.843553] usb 2-1: Manufacturer: ASIX Elec. Corp.
[    2.843556] usb 2-1: SerialNumber: 0000249B2D6BFD
[    3.381859] ax88179_178a 2-1:1.0 eth0: register 'ax88179_178a' at usb-xhci-hcd.0.auto-1, ASIX AX88179 USB 3.0 Gigabit Ethernet, 00:24:9b:2d:6b:fd
[    3.968039] of_batterydata_get_best_profile: No battery data found
[    3.968047] QCOM-STEPCHG: get_step_chg_jeita_setting_from_profile: Couldn't find profile
[    5.066532] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.183184] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.342697] EXT4-fs (sda8): mounted filesystem with ordered data mode. Opts: barrier=1,data=ordered,noauto_da_alloc,discard
[    5.344283] EXT4-fs (sde9): mounted filesystem with ordered data mode. Opts: data=ordered,noauto_da_alloc,discard
[    5.347658] EXT4-fs (sda7): mounted filesystem with ordered data mode. Opts: barrier=1,data=ordered,noauto_da_alloc,discard
[    5.359915] EXT4-fs (sda6): mounted filesystem with ordered data mode. Opts: barrier=1,data=ordered,noauto_da_alloc,discard
[    5.525473] audit: type=1400 audit(1752697558.141:2): apparmor="STATUS" operation="profile_load" profile="unconfined" name="/usr/bin/man" pid=1540 comm="apparmor_parser"
[    5.525482] audit: type=1400 audit(1752697558.141:3): apparmor="STATUS" operation="profile_load" profile="unconfined" name="man_filter" pid=1540 comm="apparmor_parser"
[    5.525487] audit: type=1400 audit(1752697558.141:4): apparmor="STATUS" operation="profile_load" profile="unconfined" name="man_groff" pid=1540 comm="apparmor_parser"
[    5.538166] EXT4-fs (sda2): VFS: Can't find ext4 filesystem
[    5.558507] systemd-journald[539]: File /var/log/journal/1dc6c3557d8c4e05ba60d5d61feb2ba7/user-1000.journal corrupted or uncleanly shut down, renaming and replacing.
[    5.567353] logd.auditd: start
[    5.567362] logd.klogd: 5567346871
[    5.577913] subsys-pil-tz 8300000.qcom,turing: cdsp: loading from 0x0000000087800000 to 0x0000000088c00000
[    5.597947] zram0: detected capacity change from 0 to 4022009856
[    5.599186] Mass Storage Function, version: 2009/09/11
[    5.599188] LUN: removable file: (no medium)
[    5.608535] Mass Storage Function, version: 2009/09/11
[    5.608538] LUN: removable file: (no medium)
[    5.609473] file system registered
[    5.617976] f_cdev_alloc: port_name:at_usb0 (ffffffee92363c00) portno:(0)
[    5.629410] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.629520] QCMAP:Start Main
[    5.629870] f_cdev_alloc: port_name:at_usb1 (ffffffee92366c00) portno:(1)
[    5.642461] Adding 3927740k swap on /dev/zram0.  Priority:10 extents:1 across:3927740k SS
[    5.650581] subsys-pil-tz 8300000.qcom,turing: cdsp: Brought out of reset
[    5.659736] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.660125] subsys-pil-tz 8300000.qcom,turing: Subsystem error monitoring/handling services are up
[    5.660282] subsys-pil-tz 8300000.qcom,turing: cdsp: Power/Clock ready interrupt received
[    5.665903] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.666012] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.666588] adsprpc: fastrpc_restart_notifier_cb: cdsp subsystem is up
[    5.670363] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.671149] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for cdsp
[    5.678359] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.680171] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.681287] 2081443688:Entered
[    5.683758] 2081443688:SMD QRTR driver probed
[    5.683867] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.685251] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.686078] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.688076] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and cdsp's SSCTL service
[    5.688491] gsi_set_inst_name: prot_id = 2, prev inst do not freed yet
[    5.689195] coresight-remote-etm soc:turing_etm0: Connection established between QMI handle and 13 service
[    5.689244] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.691270] diag: In diag_send_feature_mask_update, control channel is not open, p: 5, ffffffa87ceb41c0
[    5.692508] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 5
[    5.693677] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.697029] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.698533] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.699457] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.700259] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.701084] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.701098] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.701331] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.704999] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.705681] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.707512] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.708295] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.711113] gsi_set_inst_name: failed to find prot id for gps instance
[    5.714142] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.716155] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.716168] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.716849] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.717867] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.718798] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.721924] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.722587] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.724250] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.726051] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.726713] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.727688] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.730242] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.731130] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.739603] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.740997] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.742474] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.744260] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.745290] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.746533] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.747386] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.748223] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.749012] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.750354] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.753033] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.753564] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.754990] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.756754] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.757552] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.757894] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.758701] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.762139] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.763403] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.763504] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.782906] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.785204] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.785425] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.786925] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.792639] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.798534] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.805827] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.805912] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.808342] Switching to composition number 0x901D
[    5.812492] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.812750] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.812925] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.813034] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.813332] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.813333] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.813814] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.813951] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.815018] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.815551] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.815605] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.818031] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.818059] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.818253] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.820694] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.822523] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.822664] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.823351] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.825415] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.825716] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.825949] configfs-gadget a600000.dwc3: failed to start g1: -19
[    5.826215] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.826448] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.828704] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.829122] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.829628] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.830058] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.831372] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.831800] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.832466] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.833651] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.834090] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.834387] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.834588] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.836374] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.839518] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.839958] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.839986] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.841987] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.842163] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.843297] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.843339] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.843420] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.844187] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.844467] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.845424] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.845658] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.845662] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.847007] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.847076] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.847665] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.848072] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.848868] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.849281] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.849386] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.851374] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.852643] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.854065] ufshcd-qcom 1d84000.ufshc: ufshcd_ioctl: User buffer is NULL!
[    5.872560] servloc: service_locator_new_server: Connection established with the Service locator
[    5.872566] servloc: init_service_locator: Service locator initialized
[    5.873254] Launch adb is starting adbd... 
[    5.873726] adsprpc: fastrpc_get_service_location_notify: PDR notifier for adsp registered for msm/adsp/audio_pd (audio_pdr_adsprpc)
[    5.873727] adsprpc: fastrpc_get_service_location_notify: audio_pdr_adsprpc (msm/adsp/audio_pd) PDR service for adsp is uninitialized
[    5.873733] audio_notifer_reg_service: service PDR_ADSP is in use
[    5.878642] subsys-restart: __subsystem_get(): Changing subsys fw_name to slpi
[    5.880531] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[    5.889660] Qseecomd Service Completed
[    5.896781] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[    5.899510] QTI:Netlink Query to Kernel Success
[    5.900694] QTI:Netlink Query to Kernel Success
[    5.902011] Creating QWES LICENSE STORE : /persist/data/pfm/licenses/
[    5.907461] QCMAP:Start DHCP server
[    5.909601] read descriptors
[    5.909680] read strings
[    5.958250] QCMAP:DHCP server started
[    5.970043] android_work: did not send uevent (0 0 0000000000000000)
[    5.984513] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[    6.009694] QSEECOM: qseecom_load_app: App (haventkn) does'nt exist, loading apps for first time
[    6.023576] QSEECOM: qseecom_load_app: App with id 4 (haventkn) now loaded
[    6.040450] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[    6.040468] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[    6.040518] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[    6.040557] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[    6.041844] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[    6.043849] 2081443688:Entered
[    6.043988] 2081443688:SMD QRTR driver probed
[    6.045852] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[    6.045864] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[    6.051243] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[    6.088541] IPv6: ADDRCONF(NETDEV_UP): bond0: link is not ready
[    6.097168] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[    6.156075] QCMAP:GSB disabled
[    6.173630] QCMAP:Init Complete
[    6.177242] QTI:Netlink Query to Kernel Success
[    6.240083] i2c_geni 984000.i2c: I2C xfer timeout: 126
[    6.240104] i2c_geni 984000.i2c: I2C TXN timed out
[    6.348846] android_work: sent uevent USB_STATE=CONNECTED
[    6.352732] android_work: sent uevent USB_STATE=DISCONNECTED
[    6.496635] android_work: sent uevent USB_STATE=CONNECTED
[    6.503969] configfs-gadget gadget: high-speed config #1: c
[    6.505349] android_work: sent uevent USB_STATE=CONFIGURED
[    6.734162] spi_geni 98c000.spi: tx_fifo 16 rx_fifo 16 tx_width 32
[    6.933469] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[    6.943636] 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
[    6.943640] 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
[    6.943670] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[    6.944287] Started adbd. 
[    7.030062] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[    7.032137] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.56
[    7.034239] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[    7.034296] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[    7.057583] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[    7.057775] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x30:
[    7.057781] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[    7.057786] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[    7.057790] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x356:
[    7.057868] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[    7.062086] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[    7.062260] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.56
[    7.062416] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[    7.118906] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[    7.264045] i2c_geni 984000.i2c: Cancel failed
[    7.264126] i2c_geni 984000.i2c: i2c error :-110
[    7.776037] i2c_geni 984000.i2c: I2C xfer timeout: 126
[    7.776047] i2c_geni 984000.i2c: I2C TXN timed out
[    8.800070] i2c_geni 984000.i2c: Cancel failed
[    8.800138] i2c_geni 984000.i2c: i2c error :-110
[    8.978520] ax88179_178a 2-1:1.0 eth0: ax88179 - Link status is: 1
[    8.990797] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[    9.004482] QTI:LINK_UP message posted
[    9.006866] QTI:Processing LINK_UP
[    9.017782] QTI:Enable mobileap
[    9.022380] QCMAP:Enable mobileap
[    9.100386] QCMAP:Enable mobileap done
[    9.103389] QTI:Setup TETHERED link
[    9.149393] QTI:LINK_UP Processed
[    9.312038] i2c_geni 984000.i2c: I2C xfer timeout: 126
[    9.312046] i2c_geni 984000.i2c: I2C TXN timed out
[   10.336034] i2c_geni 984000.i2c: Cancel failed
[   10.336093] i2c_geni 984000.i2c: i2c error :-110
[   10.336511] spi_geni 980000.spi: tx_fifo 16 rx_fifo 16 tx_width 32
[   10.510884] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[   10.521979] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[   10.532178] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[   10.532203] 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
[   10.532221] 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
[   10.552445] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[   10.554570] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.56
[   10.556116] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[   10.556169] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[   10.577155] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[   10.577186] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x30:
[   10.577192] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[   10.577195] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[   10.577200] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x356:
[   10.577271] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[   10.581586] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[   10.581950] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.56
[   10.582115] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[   10.637715] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[   14.021650] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry
[   14.031199] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[   14.041334] 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
[   14.041338] 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
[   14.041365] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[   14.075832] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59
[   14.077969] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.56
[   14.080157] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[   14.080215] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[   14.102779] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[   14.102806] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x30:
[   14.102811] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[   14.102814] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[   14.102818] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x356:
[   14.102901] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[   14.106387] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[   14.106451] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.56
[   14.106510] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59
[   14.138438] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died
[   33.760180] vdd_tof: disabling
[   33.760184] vdd_hap_boost: disabling

voxl2-mini:/$ ls -l /usr/lib/camera/com
com.qti.eeprom.cmk_imx577.so               com.qti.sensor.ov7251_front_right.so
com.qti.sensor.ar0144.so                   com.qti.sensor.ov7251_front_right_flip.so
com.qti.sensor.boson.so                    com.qti.sensor.ov7251_fsin.so
com.qti.sensor.cmk_imx577.so               com.qti.sensor.ov7251_fsout.so
com.qti.sensor.cmk_imx577_flip.so          com.qti.sensor.ov7251_rear_left.so
com.qti.sensor.imx214.so                   com.qti.sensor.ov7251_rear_left_flip.so
com.qti.sensor.imx214_flip.so              com.qti.sensor.ov7251_rear_right.so
com.qti.sensor.imx335.so                   com.qti.sensor.ov7251_rear_right_flip.so
com.qti.sensor.imx377.so                   com.qti.sensor.ov9782.so
com.qti.sensor.imx412_fpv.so               com.qti.sensor.ov9782_front_left.so
com.qti.sensor.imx664.so                   com.qti.sensor.ov9782_front_left_flip.so
com.qti.sensor.imx678.so                   com.qti.sensor.ov9782_front_right.so
com.qti.sensor.imx678_flip.so              com.qti.sensor.ov9782_front_right_flip.so
com.qti.sensor.imx678_mod.so               com.qti.sensor.ov9782_rear_left.so
com.qti.sensor.irs1645.so                  com.qti.sensor.ov9782_rear_left_flip.so
com.qti.sensor.irs2975c.so                 com.qti.sensor.ov9782_rear_right.so
com.qti.sensor.ov64b40.so                  com.qti.sensor.ov9782_rear_right_flip.so
com.qti.sensor.ov7251.so                   com.qti.sensormodule.ar0144_3.bin
com.qti.sensor.ov7251_front_left.so        components/
com.qti.sensor.ov7251_front_left_flip.so

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

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: 0

KLindgren

@Vinny apologies, I should have clarified we're using this PureThermal breakout board which regulates VIN from 3.3-5V

KLindgren

To close the loop here: we solved our issue of seeing lines by providing power to the lepton via one of the 3.3V pins on the voxl2 mini instead of relying on the power pin of J10 on the sparrow board.

KLindgren

@Alex-Kushleyev I don't seem to have the privileges here to upload images but you should be able to see them in this GDrive folder.

KLindgren

@KLindgren

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