ModalAI Forum

Hello, in the documentation for the VOXL 2 connector J19 pin 9 is listed as a GPIO, the other pins are connected to the SLPI/DSP, is the GPIO connected to the DSP as well? How can it be controlled from within the DSP? Are there any other pins that can be used as GPIO and controlled from the DSP/PX4? Thank you

@tom This is the SOM, our company only gets the QRB5165M and we've been flashing the same system image for months so I'm confident that's not where the issue is:

@tom The system image flashes with sudo, but the SDK does not; no adb devices are showing up and lsusb shows the same output after the flash.

@tom No, the device is not found in fastboot mode.

@tom With the QDL switch in the ON position:
Bus 002 Device 010: ID 05c6:9008 Qualcomm, Inc QUSB_BULK_CID:0412_SN:68E7EC23
With the QDL switch in the OFF position:
Bus 002 Device 010: ID 18d1:d00d Google Inc. Android Serial: f75e1ba6

@tom Yes correct

Hi @tom I can confirm the VOXL 2s I have are QRB5165M.

Hi,

I'm trying to follow the steps listed here to unbrick a VOXL 2: https://docs.modalai.com/voxl2-unbricking. However, after the process completes I'm unable to access it through adb. I tried running it on two computers and multiple VOXL 2s with the same results. The following is the output of the QDL Tool:

Selected Flat Build:2024-06-17-1.7.4-M0054-1
Provisioning UFS...
{"message": "UFS provisioning succeeded, please reset power to the device\n"}
Flashing CDT...
{"message": "Flash CDT succeeded\n"}
Flashing Flat Build...
{"message": "Flash flat build passed\n"}

After that and a reboot adb wait-for-device hangs for over 5 minutes

@Advait-Pandit Did you ever figure this out? We're running into the same problem on multiple VOXL 2s.

@tom I tried restoring the superblock using mke2fs -n /dev/sda8 to find backups and then trying all of them with e2fsck -b <backup_superblock> /dev/sda8 All of them failed to restore the filesystem. I'm seeing this on multiple VOXL 2s so it's not isolated just to this one.

@tom I just tried it, got stuck at the following step even after hard rebooting the device:

...
Flashing: modalai_cal | m0054-cal-fs.ext4
[------------------------------------------------------------    ]( 94%)
Done Flashing
[----------------------------------------------------------------](100%)
< waiting for any device >
./flash-system-image.sh: line 624: 36563 Killed: 9               fastboot reboot
[INFO] Waiting for ADB, if this takes more than 1 minute power cycle VOXL

Nothing using adb devices

Hi, I'm using a brand new VOXL 2 flashed with 1.7.1 and I'm having issues using I2C on port number 5. I've been able to use it without problems in the past, but all of a sudden I'm not seeing any devices on it when running i2cdetect -r -y 5 and I'm getting the following error messages in the kernel log; this is happening with any I2C device on the port:

[   14.043169] i2c_geni 990000.i2c: Bus arbitration lost, clock line undriveable
[   14.043364] i2c_geni 990000.i2c: Bus proto err, noisy/unepxected start/stop
[   14.043492] i2c_geni 990000.i2c: i2c error :-71

@tom said in VOXL 2 /data mount error:

@czarsimon Are you having this issue on every reboot?

Yes, I tried re-flashing as well as completely wiping it using the qdl tool, same issue.

Hi, using a brand new VOXL flashed with 1.7.1 I'm having issues with the data.mount service failing with the following error which is preventing other applications which use it as a dependency from running:

voxl2:/$ systemctl status data.mount
● data.mount - /data
   Loaded: loaded (/lib/systemd/system/data.mount; static; vendor preset: enabled)
   Active: failed (Result: exit-code) since Thu 2023-03-02 12:58:04 UTC; 4min 44s ago
    Where: /data
     What: /dev/disk/by-partlabel/userdata
  Process: 1155 ExecMount=/bin/mount /dev/disk/by-partlabel/userdata /data -t ext4 -o noatime,nosuid,nodev,barrier=1,data=ordered,noaut

Mar 02 12:58:04 m0054 systemd[1]: Mounting /data...
Mar 02 12:58:04 m0054 mount[1155]: mount: /data: wrong fs type, bad option, bad superblock on /dev/sda8, missing codepage or helper pro
Mar 02 12:58:04 m0054 systemd[1]: data.mount: Mount process exited, code=exited status=32
Mar 02 12:58:04 m0054 systemd[1]: data.mount: Failed with result 'exit-code'.
Mar 02 12:58:04 m0054 systemd[1]: Failed to mount /data.

Additionally dmesg says the following:

EXT4-fs (sda8): VFS: Can't find ext4 filesystem

Running the mount command manually:

voxl2:/$ /bin/mount /dev/disk/by-partlabel/userdata /data -t ext4 -o noatime,nosuid,nodev,barrier=1,data=ordered,noauto_da_alloc,discard,x-systemd.automount,x-systemd.growfs,rootcontext=system_u:object_r:data_t:s0
mount: /data: wrong fs type, bad option, bad superblock on /dev/sda8, missing codepage or helper program, or other error.

/data is actually mounted and I am able to write to it, this is the first time I have encountered this problem. How can it be fixed?

Thanks for the hint @Alex-Gardner, I tried two separate modules on 3.3.0, 3.6.0, and 3.8.0 and they worked just fine, it is only with system image 4.0.0 and voxl-sdk 0.9 that neither one works which makes me conclude that it's not the sensor but something with the software. Also both modules works just fine when run by themselves, it is only in conjunction with other sensors like stereo/tof that the hires is causing issues.

Hi @Alex-Gardner I'm trying to accomplish the same thing as the OP but I'm running into some problems (my thread: https://forum.modalai.com/topic/1703/non-standard-camera-configuration-on-voxl-running-4-0-0-0-9-4). When connecting the stereo to J3 and hires to J4 voxl-camera-server -l outputs only two cameras which are the stereo, it does not recognize hires unless its on J2 but that has its own slew of problems which I've gone into more detail in my thread. Any help with this would be appreciated.

Hi @Chad-Sweet, the link you sent is for the VOXL 2, I'm trying to get this working on the VOXL. It feels like this was easier with the previous system image (3.8.0) which required only a customized voxl-camera-server.conf and a modified /system/etc/camera/camera_config.xml to enable the sensors on different ports (apart from the fact that stereo only works on J3). We have the hires and stereo working on J2 and J3 respectively on 3.8.0, the only thing missing was the TOF which is why we upgraded to 4.0.0 but it seems to have broken the existing setup that worked before. Any ideas as to why this might be the case?

Edit: it seems like there is no configuration which supports the camera combination we are trying to use, can you confirm if it is possible to use hires, stereo, and TOF on the latest VOXL image?

Edit2: even a stock configuration doesn't seem to be working, I have hires on J2 and stereo on J3 and using voxl-configure-cameras value of 13 which is 13 Hires + Stereo(OV7251) and I get the same errors:

voxl:/$ voxl-camera-server

------ voxl-camera-server: Camera server is now running
WARNING: Camera stereo recieved much newer child than master (49), discarding master and trying again
ERROR:   Recieved Fatal error from camera: hires
ERROR:   Sending request 4, ErrorCode: -ENODEV
WARNING: Thread: hires result thread recieved ESTOP
WARNING: Thread: hires request thread recieved ESTOP
WARNING: Thread: stereo result thread recieved ESTOP
WARNING: Thread: stereo_child result thread recieved ESTOP
WARNING: Thread: stereo_child request thread recieved ESTOP
WARNING: Thread: stereo request thread recieved ESTOP

------ voxl-camera-server INFO: Camera server is now stopping
WARNING: Deleting buffers: 4 of 16 still in use
WARNING: Deleting buffers: 983048 of 983061 still in use

Segmentation fault:
Fault thread: voxl-camera-ser(tid: 3179)
Fault address: 0x1
Address not mapped.
Segmentation fault
voxl:/$

Edit 3: full log of voxl-camera-server -d 0 with hires and stereo: https://pastebin.com/kFm6mar6. Key line seems to be ERROR: Recieved Fatal error from camera: hires which falls in line with my observations of the hires camera being the one causing issues as stereo and TOF work fine without it.

Edit 4: it's definitely something with the system image, I downgraded voxl-camera-server all the way down to 1.1.2 and the hires+stereo config is still not working.

Hi, I'm trying to get the following camera setup working with the latest 4.0.0 system image and voxl-sdk v0.9.4:

J2 - IMX214 hires
J3 - OV7251 stereo
J4 - TOF

I am using the following voxl-camera-server.conf:

{
	"version":	0.1,
	"cameras":	[{
			"name":	"hires",
			"enabled":	true,
			"frame_rate":	30,
			"type":	"imx214",
			"camera_id":	0,
			"preview_width":	640,
			"preview_height":	480,
			"snapshot_width":	3840,
			"snapshot_height":	2160
		},{
			"name":	"tof",
			"enabled":	true,
			"frame_rate":	5,
			"type":	"pmd-tof",
			"camera_id":	1
		}, {
			"name":	"stereo",
			"enabled":	true,
			"frame_rate":	30,
			"type":	"ov7251",
			"camera_id":	2,
			"camera_id_second":	3,
			"independent_exposure":	false,
			"ae_desired_msv":	60,
			"ae_filter_alpha":	0.6,
			"ae_ignore_fraction":	0.2,
			"ae_slope":	0.05,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}]
}

And this is the output that I get when running the server:

voxl:/$ voxl-camera-server
WARNING: Camera stereo recieved much newer child than master (41), discarding master and trying again
ERROR:   Recieved Fatal error from camera: hires
ERROR:   Sending request 12, ErrorCode: -ENODEV
WARNING: Thread: hires result thread recieved ESTOP
WARNING: Thread: hires request thread recieved ESTOP
WARNING: Thread: tof result thread recieved ESTOP
WARNING: Thread: stereo_child result thread recieved ESTOP
WARNING: Thread: stereo result thread recieved ESTOP
WARNING: Thread: stereo request thread recieved ESTOP
WARNING: Thread: tof request thread recieved ESTOP
WARNING: Thread: stereo_child request thread recieved ESTOP

------ voxl-camera-server INFO: Camera server is now stopping
WARNING: Deleting buffers: 4 of 16 still in use
WARNING: Deleting buffers: 3 of 16 still in use
WARNING: Deleting buffers: 983049 of 983061 still in use

Segmentation fault:
Fault thread: voxl-camera-ser(tid: 3493)
Fault address: 0x1
Address not mapped.
Segmentation fault
voxl:/$

All cameras seem to work fine independently on these ports when only one is enabled in the configuration just not all together for some reason. How can I get all three of these cameras working at the same time? Thank you

Edit: it seems that the hires camera is causing issues, by itself its fine but together with the other two it causes a crash. Stereo and TOF work fine together though.

Hi @Eric-Katzfey is it possible to use the voxl-hires-server project with the tracking/stereo cameras? The default configuration doesn't seem to work. Thank you