Posts made by brycek

I'm trying to stream full resolution (3840x2160) from an IMX678 on a VOXL 2. By default, the configuration script sets the large encoded pipe for an IMX678 to 2048x1536, and the new voxl-camera-server doc page implies that the IMX678 module was tested to work with OMX up to 4096x2160. The camera server accepts this config, but crashes the whole board when you try to read the pipe, probably because the IMX678 doesn't have that many pixels.

For my application, hardware encoding of full resolution camera streams is pretty crucial, is there a workaround to this functionality?

I believe I had this working on SDK 0.9.5, I guess by invoking the encoding from the streamer? I could be mistaken on this it was around a month ago.

Thanks in advance for the suggestions!

@martongonczy There's a few different places to start troubleshooting. To follow the pipeline, first make sure camera data is flowing (voxl-inspect-cam -a). Ensure the streamer is configured to use the correct pipe (systemctl status voxl-streamer), Ensure the computer running QGC can see the drone over the network, can you ping your VOXL's IP address? Then check QGC settings, are you using the correct URI and port (default port is 8900)?

@modaltb Any other troubleshooting thoughts you can think of? Would be nice to not have to write off this board,,

@brycek said in Most VOXL 2 hires-capable camera ports nonfunctional after SDK 1.0 flash:

I also tried to actually run the camera server, and while it does run, I'm only getting data in the hires1 pipes, so I still have a bit of debug to do.

Okay, interestingly, it worked when I moved the camera in slot 3 to slot 2. So now I am using slots 2 and 4, and getting data from both cameras. Not sure why that is (maybe its my cable?), but I'm going to work with it for now. Thanks for the excellent tip, @Tjark. I might fork a version of the configuration script that adds all possible slot drivers for the requested types of cameras unless there's a reason not to load unused drivers.

@Tjark

Yes! Thank you for your helpful reply! I was trying to use config 8, or config 0 and writing my own file at /etc/modalai/voxl-camera-config, but option 8 only loads the binary driver for slot 3 (and 0 doesn't load any) I ended up making my own config like you, and just loading the IMX678 drivers for slots 2, 3, and 4, because I'm not sure which I'll use, but I'm only using the IMX678 modules.
My addition to /usr/bin/qrb5165-configure-cameras looked like this:

17) # Dual Hires (IMX678)
                CAM_LIST+=("hires0:imx678:0")
                CAM_LIST+=("hires1:imx678:1")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/imx678/com.qti.sensormodule.imx678_2.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/imx678/com.qti.sensormodule.imx678_3.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/imx678/com.qti.sensormodule.imx678_4.bin")
                ;;

This change made it s.t. after loading that config, (and killing the cam server) I could run `voxl-camera-server -l' and see the imx678 modules in any of those 3 slots!
I also tried to actually run the camera server, and while it does run, I'm only getting data in the hires1 pipes, so I still have a bit of debug to do.
Here's the config file it generated as well.

{
        "version":      0.1,
        "cameras":      [{
                        "type": "imx678",
                        "name": "hires0",
                        "enabled":      true,
                        "camera_id":    0,
                        "fps":  30,
                        "en_preview":   false,
                        "preview_width":        640,
                        "preview_height":       480,
                        "pre_format":   "nv21",
                        "en_small_video":       true,
                        "small_video_width":    1024,
                        "small_video_height":   768,
                        "small_venc_mode":      "h265",
                        "small_venc_br_ctrl":   "cqp",
                        "small_venc_Qfixed":    30,
                        "small_venc_Qmin":      15,
                        "small_venc_Qmax":      40,
                        "small_venc_nPframes":  9,
                        "small_venc_mbps":      2,
                        "en_large_video":       true,
                        "large_video_width":    2048,
                        "large_video_height":   1536,
                        "large_venc_mode":      "h265",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    38,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      30,
                        "en_snapshot":  true,
                        "en_snapshot_width":    3840,
                        "en_snapshot_height":   2160,
                        "ae_mode":      "isp"
                }, {
                        "type": "imx678",
                        "name": "hires1",
                        "enabled":      true,
                        "camera_id":    1,
                        "fps":  30,
                        "en_preview":   false,
                        "preview_width":        640,
                        "preview_height":       480,
                        "pre_format":   "nv21",
                        "en_small_video":       true,
                        "small_video_width":    1024,
                        "small_video_height":   768,
                        "small_venc_mode":      "h265",
                        "small_venc_br_ctrl":   "cqp",
                        "small_venc_Qfixed":    30,
                        "small_venc_Qmin":      15,
                        "small_venc_Qmax":      40,
                        "small_venc_nPframes":  9,
                        "small_venc_mbps":      2,
                        "en_large_video":       true,
                        "large_video_width":    2048,
                        "large_video_height":   1536,
                        "large_venc_mode":      "h265",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    38,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      30,
                        "en_snapshot":  true,
                        "en_snapshot_width":    3840,
                        "en_snapshot_height":   2160,
                        "ae_mode":      "isp"
                }]
}

Hello, I have a test setup with two IMX678 cameras that had been working well in SDK0.9.5 with a dev version of cam-server for hardware encoding. I had the cameras set up in a dual hires config like this: https://docs.modalai.com/images/voxl2/m0054-imx412-imx678.JPG

Yesterday I upgraded to SDK1.0 and I haven't been able to get dual hire working since. after looking through debugging outputs, it can't detect both cameras. I've swapped camera modules around, used different cable and interposers, and in the end it seems that only camera slot 3 is functioning. I can move the same module around to all the different slot options listed here with the dual cable and the interposer, and running voxl-cam-server -l will only find cameras in slot 3. I've also tested this with some M0024 cam modules, and have the same result.

Any advice on further troubleshooting? Also, how hard is it to revert to 0.9.5?

@modaltb oh, duh, I didn't actually have it plugged in when I generated the output for the post. here it is:

$ lsusb
Bus 002 Device 024: ID 05c6:9008 Qualcomm, Inc. Gobi Wireless Modem (QDL mode)
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 8087:0026 Intel Corp. 
Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

I am using a VM, but I have the same problem on a native Ubuntu 20.04 machine as well. Same device in lsusb, and same error prints from QDL.

I have a VOXL2 stuck in EDL mode and I'm trying to follow the instructions from https://docs.modalai.com/voxl2-unbricking/#flash. When I run the qdl command it sees my board and seems to initialize all of the files it needs, but then seems to fail to actually open and write to the UFS partition. I can even navigate to the board's UFS volume at /dev/bus/usb/001/004 and see a bunch of qti-*****.ext4 files, but QDL is failing. lsusb output and full qdl debug output below. Any advice would be appreciated, would like to have this board to test new SDK versions.

$ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 8087:0026 Intel Corp. 
Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

$ sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml
HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0
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END OF IMAGE image: 13 status: 0
DONE status: 1
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37
" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37 
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Chip serial num: 3335887085 (0xc6d598ed)" /></data>
LOG: INFO: Chip serial num: 3335887085 (0xc6d598ed)
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Supported Functions (15):" /></data>
LOG: INFO: Supported Functions (15):
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: program" /></data>
LOG: INFO: program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: read" /></data>
LOG: INFO: read
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: nop" /></data>
LOG: INFO: nop
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: patch" /></data>
LOG: INFO: patch
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: configure" /></data>
LOG: INFO: configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: setbootablestoragedrive" /></data>
LOG: INFO: setbootablestoragedrive
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: erase" /></data>
LOG: INFO: erase
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: power" /></data>
LOG: INFO: power
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: firmwarewrite" /></data>
LOG: INFO: firmwarewrite
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getstorageinfo" /></data>
LOG: INFO: getstorageinfo
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: benchmark" /></data>
LOG: INFO: benchmark
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: emmc" /></data>
LOG: INFO: emmc
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: ufs" /></data>
LOG: INFO: ufs
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: fixgpt" /></data>
LOG: INFO: fixgpt
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getsha256digest" /></data>
LOG: INFO: getsha256digest
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: End of supported functions 15" /></data>
LOG: INFO: End of supported functions 15
qdl: firehose operation timed out
FIREHOSE WRITE: <?xml version="1.0"?>
<data><configure MemoryName="ufs" MaxPayloadSizeToTargetInBytes="1048576" verbose="0" ZLPAwareHost="1" SkipStorageInit="0"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for configure" /></data>
LOG: INFO: Calling handler for configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Storage type set to value UFS" /></data>
LOG: INFO: Storage type set to value UFS
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="ACK" MemoryName="UFS" MinVersionSupported="1" Version="1" MaxPayloadSizeToTargetInBytes="1048576" MaxPayloadSizeToTargetInBytesSupported="1048576" MaxXMLSizeInBytes="4096" DateTime="Aug 17 2021 - 23:37:37" /></data>
[CONFIGURE] max payload size: 1048576
FIREHOSE WRITE: <?xml version="1.0"?>
<data><program SECTOR_SIZE_IN_BYTES="4096" num_partition_sectors="32776" physical_partition_number="0" start_sector="3154440" filename="qti-ubuntu-robotics-image-qrb5165-rb5-sysfs_1.ext4"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for program" /></data>
LOG: INFO: Calling handler for program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0" /></data>
LOG: ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open the device:3 slot:0 partition:0 error:0" /></data>
LOG: ERROR: Failed to open the device:3 slot:0 partition:0 error:0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: OPEN handle NULL and no error, weird 344489460" /></data>
LOG: ERROR: OPEN handle NULL and no error, weird 344489460
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3" /></data>
LOG: ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="NAK" rawmode="false" /></data>
[PROGRAM] failed to setup programming

I have a VOXL2 on suite 0.9.5 with some packages upgraded to newer dev versions, and a couple custom utility scripts. Is there a way to take an image of the device s.t. I can restore from the backup, or use it to provision new boards? Otherwise, is there some other sort of provisioning utility?