@Eric-Katzfey
I reflashed the voxl with the voxl2_SDK_1.4.1
unfortunately, without any changes.
Spinning the motors with the esc-tools does work for a couple of seconds but stops with a connection reset error aswell.
PX4 does not start at all and i still get the SLPI error in the dmesg log.
voxl2:/$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform: M0054
mach.var: 1.0.1
--------------------------------------------------------------------------------
voxl-suite: 1.4.1
--------------------------------------------------------------------------------
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-04-10 07:49:18
WARNING: repo file has changed since last update,
packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125 1.0-r0
kernel-module-voxl-gpio-mod-4.19.125 1.0-r0
kernel-module-voxl-platform-mod-4.19.125 1.0-r0
libfc-sensor 1.0.7
libmodal-cv 0.5.16
libmodal-exposure 0.1.3
libmodal-journal 0.2.2
libmodal-json 0.4.3
libmodal-pipe 2.10.6
libqrb5165-io 0.4.9
libvoxl-cci-direct 0.2.5
libvoxl-cutils 0.1.1
modalai-slpi 1.1.19
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-imu-server 1.1.2
qrb5165-rangefinder-server 0.1.4
qrb5165-slpi-test-sig 01-r0
qrb5165-system-tweaks 0.3.4
qrb5165-tflite 2.8.0-2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.5.9
voxl-camera-server 2.1.1
voxl-ceres-solver 2:1.14.0-10
voxl-configurator 0.9.7
voxl-cpu-monitor 0.5.3
voxl-docker-support 1.3.1
voxl-elrs 0.4.1
voxl-esc 1.5.1
voxl-feature-tracker 0.5.2
voxl-flow-server 0.3.6
voxl-fsync-mod 1.0-r0
voxl-gphoto2-server 0.0.10
voxl-gpio-mod 1.0-r0
voxl-io-server 0.0.4
voxl-jpeg-turbo 2.1.3-5
voxl-lepton-server 1.3.3
voxl-lepton-tracker 0.0.4
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.4.9
voxl-mavcam-manager 0.5.7
voxl-mavlink 0.1.1
voxl-mavlink-server 1.4.4
voxl-modem 1.1.5
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.9
voxl-mpa-tools 1.3.7
voxl-open-vins 0.4.16
voxl-open-vins-server 0.3.0
voxl-opencv 4.5.5-2
voxl-osd 0.1.1
voxl-platform-mod 1.0-r0
voxl-portal 0.7.5
voxl-px4 1.14.0-2.0.94
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.6.3
voxl-qvio-server 1.1.1
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-state-estimator 0.0.4
voxl-streamer 0.7.5
voxl-suite 1.4.1
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.9
voxl-utils 1.4.4
voxl-uvc-server 0.1.7
voxl-vision-hub 1.8.17
voxl-vtx 1.1.8
voxl2-io 0.0.3
voxl2-system-image 1.8.02-r0
voxl2-wlan 1.0-r0
--------------------------------------------------------------------------------
PX4 output
voxl2:~/voxl-esc/voxl-esc-tools(master)$ voxl-reset-slpi
Sending kill slpi command!
voxl2:~/voxl-esc/voxl-esc-tools(master)$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled
*************************
AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=VOXLPM
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:
*************************
INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] assuming working directory is rootfs, no symlinks needed.
INFO [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO [muorb] SLPI: muorb aggregator thread running
INFO [muorb] muorb protobuf initalize method succeeded
INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO [muorb] succesfully did TOPIC_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO [muorb] muorb test passed
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [muorb] SLPI: Advertising remote topic log_message
INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO [parameters] Starting param sync THREAD
INFO [muorb] SLPI: Starting param sync THREAD
*************************
AIRFRAME: MULTICOPTER
GPS: AUTODETECT
RC: CRSF_RAW
ESC: VOXL_ESC
POWER MANAGER: VOXLPM
AIRSPEED SENSOR: NONE
DISTANCE SENSOR: NONE
OSD: DISABLE
ARTIFACT_MODE: DISABLE
EXTRA STEPS:
*************************
Running on M0054
INFO [muorb] SLPI: before starting the qshell_entry task
INFO [muorb] SLPI: Creating pthread qshell
INFO [muorb] SLPI: qshell entry.....
INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO [muorb] SLPI: Init app map initialized
INFO [muorb] SLPI: after starting the qshell_entry task
INFO [param] selected parameter default file /data/px4/param/parameters
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO [muorb] SLPI: Advertising remote topic parameter_update
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO [parameters] BSON document size 2517 bytes, decoded 2517 bytes (INT32:35, FLOAT:81)
Starting IMU driver with no rotation
INFO [qshell] Send cmd: 'icm42688p start -s'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: icm42688p start -s
INFO [muorb] SLPI: arg0 = 'icm42688p'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-s'
INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO [uORB] Advertising remote topic sensor_accel
INFO [uORB] Advertising remote topic sensor_gyro
INFO [muorb] SLPI: ICM42688P::probe successful!
INFO [muorb] SLPI: on SPI bus 1
INFO [muorb] SLPI: icm42688p #0 on SPI bus 1
INFO [muorb] SLPI:
INFO [muorb] SLPI: >>> ICM42688P this: b2600328
INFO [muorb] SLPI: Ok executing command: icm42688p start -s
INFO [uORB] Advertising remote topic qshell_retval
INFO [muorb] SLPI: >>> ICM42688P this: b2600328
INFO [qshell] qshell return value timestamp: 239538233, local time: 239543342
INFO [muorb] SLPI: >>> ICM42688P this: b2600328
INFO [muorb] SLPI: Register interrupt b214ec48 e61eccdc b2600328
INFO [uORB] Advertising remote topic sensor_gyro_fifo
INFO [uORB] Advertising remote topic sensor_accel_fifo
INFO [uORB] Advertising remote topic imu_server
INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
INFO [muorb] SLPI: arg0 = 'icp101xx'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-I'
INFO [muorb] SLPI: arg3 = '-b'
INFO [muorb] SLPI: arg4 = '5'
INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
INFO [muorb] SLPI: Set up I2C bus mutex for bus 5
INFO [muorb] SLPI: >>> ICM42688P this: b2600328
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'temperature_compensation start'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for qmc5883l magnetometer
INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ist8310 magnetometer
INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ist8308 magnetometer
INFO [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'gps start'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ncp5623c RGB LED
INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
Connection error: connection reset
dmesg ouput
[Apr10 07:58] Fatal error on slpi!
[ +0.000121] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:UTMR_CLNT_1:0x1078:sns_thread_manager.c:497:SNS_SEE_P_0 exceeded processing time limit for library 0xb25d94f8.
[ +0.000072] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[ +0.001309] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[ +0.000014] subsys-restart: subsystem_shutdown(): [kworker/u19:0:1866]: Shutting down slpi
[ +0.017355] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[ +0.000147] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[ +0.000157] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[ +0.003004] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[ +0.000777] subsys-restart: subsystem_powerup(): [kworker/u19:0:1866]: Powering up slpi
[ +0.001439] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[ +0.069556] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[ +0.062589] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[ +0.000059] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[ +0.000130] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[ +0.002168] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[ +0.000008] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:1866]: Restart sequence for slpi completed.
[ +0.001835] -1882171928:Entered
[ +0.000228] -1882171928:SMD QRTR driver probed
[ +0.001453] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[ +0.000064] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[ +0.002648] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[ +0.012758] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[ +2.208612] Fatal error on slpi!
[ +0.000113] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x65:sns_stream_service.c:436:req_found.
[ +0.000061] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[ +0.001144] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[ +0.000016] subsys-restart: subsystem_shutdown(): [kworker/u19:0:1866]: Shutting down slpi
[ +0.013085] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[ +0.002398] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[ +0.000087] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[ +0.000944] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[ +0.001899] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[ +0.001040] subsys-restart: subsystem_powerup(): [kworker/u19:0:1866]: Powering up slpi
[ +0.000247] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[ +0.062107] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[ +0.061462] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[ +0.000067] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[ +0.004727] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[ +0.000007] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:1866]: Restart sequence for slpi completed.
[ +0.004439] -1882171928:Entered
[ +0.001177] -1882171928:SMD QRTR driver probed
[ +0.003823] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[ +0.001216] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[ +0.000035] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[ +0.008403] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
