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    J
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    Posts made by jcai

    • RE: OV64B Configuration

      @Alex-Kushleyev Great, I'll be updating with how the tests go

      posted in Ask your questions right here!
      J
      jcai
    • RE: IMX412 Colour

      Update: the filter was absolutely the difference maker

      25427486-6567-4848-a3ad-b4992ec64ffb-image.png

      posted in Ask your questions right here!
      J
      jcai
    • RE: QUP0 i2c access on VOXL2 mini

      Awesome, thanks!

      posted in Software Development
      J
      jcai
    • RE: QUP0 i2c access on VOXL2 mini

      @Alex-Kushleyev
      https://docs.modalai.com/voxl2-mini-linux-user-guide/
      https://docs.modalai.com/voxl2-mini-connectors/#j7---camera-group-1-specific-pinout
      The linux user guide says that i2c0 is on J7, but the connectors page only has i2c4 on pins 34/36. Could you confirm the correct bus and pin numbers here? I'm assuming i2c4 was on an older system image, in which case are the correct pins still 34/36?

      Also, turns out we're only using one camera so J7 will be free. As for QUP0, that makes sense, thanks

      posted in Software Development
      J
      jcai
    • QUP0 i2c access on VOXL2 mini

      Sort of a 2-part question:

      On a VOXL2 mini, if I have both an M0155 and an M0181 on J6 and J7, is there any way to access i2c-0 on J7? I'm assuming if the coax adapter is on J7, there's no way to break out the i2c pins?

      If not, then my other option is to use QUP0 on J19. I'm not running px4. Is it possible to somehow use that i2c bus from the apps proc? I've looked at libqrb5165-io and there doesn't seem to be anything for that. There's functions for accessing slpi UARTs, but only one port at a time?

      Thanks

      posted in Software Development
      J
      jcai
    • RE: VOXL2 vlan

      @modaltb As far as I can tell, I'm building a perf kernel. These are my changes:

      MODAL_REPO_BRANCH=v1.8.02 in bin/qrb5165-common.sh

      I've added the following lines to ./lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/fragments/m005x.cfg:

      CONFIG_MACVLAN=y
CONFIG_VLAN_8021Q=y

      And then building:

      ./qrb5165-build.sh -m M0054
      posted in Ask your questions right here!
      J
      jcai
    • RE: IMX412 Colour

      @Alex-Kushleyev Thanks for the info. For now, we're going to swap the sensor for one with the filter to see how it performs. I'll be updating results here

      posted in Ask your questions right here!
      J
      jcai
    • RE: VOXL2 vlan

      @Alex-Kushleyev To be sure, I cleaned the workspace and rebuilt the docker image as well. I re-synced, ensuring that the tag for the repos is v1.8.02. My voxl is also on SDK 1.4

      Is this behaviour reproducible?

      posted in Ask your questions right here!
      J
      jcai
    • RE: IMX412 Colour

      @Alex-Kushleyev I've tried the other driver, and the result looks largely the same. It's a bit brighter. (Cropped for file size)
      My sensor indeed doesn't have the IR filter.
      Screenshot 2025-02-12 143348-2.png
      Screenshot 2025-02-12 143348.png

      posted in Ask your questions right here!
      J
      jcai
    • IMX412 Colour

      Hi, I have a single IMX412 connected to M0173 J5 on a VOXL2.

      com.qti.sensormodule.imx412_fpv_2.bin is the only sensormodule file I have in /usr/lib/camera.

      This is my camera server config file:

      /**
 * voxl-camera-server Configuration File
 *
 * Each camera has configurations for up to 4 HAL3 streams:
 *    - `preview` stream for raw unprocessed images from CV cameras
 *    - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
 *    - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
 *    - `snapshot` ISP-processed JPG snapshots that get saved to disk
 *
 * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
 *
 * This file is generated from default values by voxl-configure-cameras.
 * Do not expect arbitrary resolutions to work, the ISP and video compression
 * pipelines only support very specific resolutions.
 *
 * The default video compression mode is cqp or Constant Quantization Parameter
 *
 *
 *
 */
{
	"version":	0.1,
	"fsync_en":	true,
	"fsync_gpio":	109,
	"cameras":	[{
			"type":	"imx412",
			"name":	"hires_front",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	640,
			"small_video_height":	480,
			"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":	false,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"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":	false,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"exif_focal_length":	3.0999999046325684,
			"exif_focal_length_in_35mm_format":	17,
			"exif_fnumber":	1.2400000095367432,
			"ae_mode":	"isp"
		}]
}

      The issue I'm having has to do with the colour of the video. Indoors, the image looks fine but outdoors, there's a red tint that I can't seem to get rid of. I'm using isp currently, but I've also played around with lme_msv, to not much improvement. Is this behaviour normal?
      Screenshot 2025-02-11 105120.png
      Screenshot 2025-02-11 105919.png

      posted in Ask your questions right here!
      J
      jcai
    • RE: VOXL2 vlan

      @tom There's a couple, which I'm guessing have to do with all those modules not getting loaded anymore:

      • eth0 no longer shows up in ifconfig
      • voxl-configure-cameras returns cat: /sys/module/voxl_platform_mod/parameters/config: No such file or directory

      There may be more, but I haven't dug too deep into finding all the effects

      posted in Ask your questions right here!
      J
      jcai
    • VOXL2 vlan

      Hello, has 8021q vlan been tested on the VOXL2 before? I'm building the module for 1.8.02 for SDK 1.4 by enabling CONFIG_VLAN_8021Q, but it's causing some issues.

      Below is the output from lsmod before and after enabling the module:

      voxl2:/$ lsmod
Module                  Size  Used by
voxl_platform_mod      16384  0
voxl_gpio_mod          16384  0
voxl_fsync_mod         16384  0
machine_dlkm          159744  0
wcd938x_slave_dlkm     16384  0
wcd938x_dlkm          110592  1 machine_dlkm
wcd9xxx_dlkm           49152  1 wcd938x_dlkm
mbhc_dlkm              45056  1 wcd938x_dlkm
tx_macro_dlkm         106496  0
rx_macro_dlkm         102400  0
va_macro_dlkm          98304  0
wsa_macro_dlkm         69632  1 machine_dlkm
swr_ctrl_dlkm          57344  4 wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm
bolero_cdc_dlkm        57344  5 machine_dlkm,wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm
wsa881x_dlkm           45056  1 machine_dlkm
wcd_core_dlkm          32768  7 wsa881x_dlkm,machine_dlkm,wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm,wcd938x_dlkm
stub_dlkm              16384  0
hdmi_dlkm              24576  0
swr_dlkm               24576  4 wsa881x_dlkm,wcd938x_dlkm,swr_ctrl_dlkm,wcd938x_slave_dlkm
pinctrl_lpi_dlkm       20480  0
pinctrl_wcd_dlkm       16384  0
usf_dlkm               57344  0
native_dlkm           163840  0
platform_dlkm        2195456  1 native_dlkm
q6_dlkm               909312  9 bolero_cdc_dlkm,machine_dlkm,pinctrl_lpi_dlkm,usf_dlkm,va_macro_dlkm,swr_ctrl_dlkm,wcd9xxx_dlkm,native_dlkm,platform_dlkm
adsp_loader_dlkm       16384  0
apr_dlkm              229376  4 q6_dlkm,usf_dlkm,adsp_loader_dlkm,platform_dlkm
snd_event_dlkm         16384  5 bolero_cdc_dlkm,machine_dlkm,q6_dlkm,pinctrl_lpi_dlkm,apr_dlkm
q6_notifier_dlkm       16384  3 q6_dlkm,pinctrl_lpi_dlkm,apr_dlkm
q6_pdr_dlkm            16384  1 q6_notifier_dlkm
88XXau               2342912  0
8821cu               2465792  0
8188eu               1200128  0

      voxl2:/$ lsmod
Module                  Size  Used by
stub_dlkm              16384  0
q6_notifier_dlkm       16384  0
q6_pdr_dlkm            16384  1 q6_notifier_dlkm

      The cause of this can be found using dmesg, where an example line is shown below. A multitude of other modules are showing similar errors with other symbols like _dev_err

      [    4.764189] voxl_gpio_mod: disagrees about version of symbol device_create
[    4.764192] voxl_gpio_mod: Unknown symbol device_create (err -22)

      However, running dmesg | grep VLAN gives:

      voxl2:/$ dmesg | grep VLAN
[    1.954223] 8021q: 802.1Q VLAN Support v1.8
[    5.013433] 8021q: adding VLAN 0 to HW filter on device bond0
      posted in Ask your questions right here!
      J
      jcai
    • LAN7800 support

      Hello, I'm trying to use LAN7800 with a VOXL2. I'm on SDK 1.4 with an EVB-LAN7800LC-1 evaluation board.

      I've seen that the lan78xx driver requires Linux kernel 4.3+ but even though the VOXL is on 4.19.125, it looks like there's support for lan78xx?

      I've confirmed that the adapter works on my Windows laptop, but the following is what happens when I connect it to the VOXL2 on the M0151's port

      voxl2:/$ dmesg | grep lan78
[    1.869189] usbcore: registered new interface driver lan78xx
[    3.326980] libphy: lan78xx-mdiobus: probed
[    4.342277] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342307] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342340] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342365] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342462] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342487] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342520] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.869096] libphy: lan78xx-mdiobus: probed
[   12.810643] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810685] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810735] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810772] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.810881] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810931] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810966] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.811009] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   13.329593] libphy: lan78xx-mdiobus: probed
[   27.122628] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122673] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.122818] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123017] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.123056] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123108] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.657519] libphy: lan78xx-mdiobus: probed
[   28.098415] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098467] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098525] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098569] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098770] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098827] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.610233] libphy: lan78xx-mdiobus: probed
[   30.898654] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898721] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898781] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.898821] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.898994] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.899056] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.899097] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.899146] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   31.412477] libphy: lan78xx-mdiobus: probed
[   32.814550] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814604] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814662] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.814832] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.814989] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.815030] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.815088] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   33.326810] libphy: lan78xx-mdiobus: probed
[   33.476910] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000424. ret = -71
[   33.477263] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000420. ret = -71
.
.
.
[   42.338752] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339081] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   42.339126] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339185] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   42.863468] libphy: lan78xx-mdiobus: probed
[   44.298561] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298614] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298674] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298720] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298867] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298911] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298966] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.813080] libphy: lan78xx-mdiobus: probed
[   45.258417] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258469] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258651] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258697] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258842] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258886] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258942] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.774138] libphy: lan78xx-mdiobus: probed
[   46.226421] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226472] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226529] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226572] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226716] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226759] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226814] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.741781] libphy: lan78xx-mdiobus: probed
[   50.346684] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346739] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346801] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.346847] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.346991] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.347061] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.347107] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.347164] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.607172] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.607688] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.608208] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.608668] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to write register index 0x00000010. ret = -71
[   50.610775] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.612909] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.615291] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.617395] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.619530] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.621638] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.624239] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.626414] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.628507] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.630636] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.632776] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.635169] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.637805] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.639887] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.642301] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.644417] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.646512] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.648658] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.650747] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.653185] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.655546] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.657652] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.659752] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
.
.
.
[   51.611757] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614032] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614038] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): timeout on completion of LiteReset
[   51.614043] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Registers INIT FAILED....
[   51.614089] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Bind routine FAILED
[   51.615072] lan78xx: probe of 2-1:1.0 failed with error -5
      posted in Ask your questions right here!
      J
      jcai
    • RE: OV64B Configuration

      @Alex-Kushleyev This looks pretty good, thanks!

      If I'm understanding correctly, with one M0159, one M0181, and one M0155, I'd be able to connect all three sensors (OV64, boson, M0161) on a VOXL2/VOXL2 mini?

      If that's the case, I'd be interested in experimenting with that setup. What would the process for getting these boards look like?

      For the connection between the boards, what's the longest length coax I could get or use reliably?

      posted in Ask your questions right here!
      J
      jcai
    • RE: OV64B Configuration

      @Alex-Kushleyev I appreciate the detailed response!

      We'd be open to experimenting with some of this hardware. Is a picture of the M0159 (not schematics) something we could get?

      As for an initial use case:

      • OV64B: 30fps, 720p/1080p
      • Boson: 30fps, 640x512, MIPI
      • M0161 IMX412: This is what's currently interfaced with the M0173. What would it take to include this in the setup?
      posted in Ask your questions right here!
      J
      jcai
    • RE: OV64B Configuration

      @Alex-Kushleyev I don't have the hadron itself on hand at the moment. I'm just doing some preliminary reading and planning for when we do get it.

      We have a G-Hadron gimbal and accompanying G-Hadron RB5 adapter, which together will expose the boson through USB and the OV64B through MIPI.

      Do you have a link to the M0159? I haven't been able to find it. If possible, I'd rather not connect the boson over USB.

      posted in Ask your questions right here!
      J
      jcai
    • RE: OV64B Configuration

      @Alex-Kushleyev

      I'm using a Hadron 640R with a VOXL2 (for now, but we plan on switching to a VOXL2 mini eventually). I also have a M0173 adapter board.

      So far, I've only done some calcs for 35mm focal length:
      With f = 4.8mm and D = 8.15mm, I get 35FL = 25.48mm
      To make it an int, f = 4.75 and D = 8.2 is an option.

      posted in Ask your questions right here!
      J
      jcai
    • OV64B Configuration

      Hello, I'm seeing in the documentation and in the code that ov64b sensors are supported by SDK 1.4. I've confirmed that the bins exist in chi-cdk.

      However, I'm not seeing any information/documentation on camera configs nor any default camera-server configs in the source code for this sensor.

      How do I go about using it with voxl-camera-server.conf?

      posted in Ask your questions right here!
      J
      jcai
    • RE: VOXL2 Camera Configuration not found

      @Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file

      posted in Ask your questions right here!
      J
      jcai
    • RE: VOXL2 Camera Configuration not found

      @modaltb yup, a single IMX412 on M0173 J5.

      I've removed all the other com.qti.sensormodule*.bin files. These are the outputs I get when I run voxl-camera-server -l and voxl-camera-server with and without tracking_front enabled in the config file.

      As you can see, I'm still getting the same strange behaviour.

      Default C28:

      voxl2:/$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
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: 1


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x  720
1280 x  720

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  512 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
        min = 100
        max = 35200

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
        2200

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
        min = 0ns
        max = 243753000ns

====================================
Number of cameras detected: 1
====================================

      voxl2:/$ voxl-camera-server
detected system image 1.7.10
using new imx412 defaults
detected system image 1.7.10
using new imx412 defaults
=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking_front
    sensor type:         ar0144
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           1
    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_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: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

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

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

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      0
    large_video_width:   4056
    large_video_height:  3040

    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
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                hires_down
    sensor type:         imx412
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

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

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      1
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         1
    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
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #3
    name:                tracking_down
    sensor type:         ar0144
    isEnabled:           1
    camId:               3
    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_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: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
Starting Camera: tracking_front (id #0)
Connected to cpu-monitor
ERROR:   Camera 0 failed to find supported preview config: 1280x800
WARNING: Failed to start cam tracking_front due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires_front (originally id #1) with id offset: 1
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires_down (originally id #2) with id offset: 1
WARNING: cam hires_down (id 1) does not seem to be alive
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive

------ voxl-camera-server: Started 1 of 4 cameras

------ voxl-camera-server: Camera server is now running

      C28 with tracking_front disabled:

      voxl2:/$ voxl-camera-server -l
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
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: 1


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x  720
1280 x  720

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  512 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
        min = 100
        max = 35200

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
        2200

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
        min = 0ns
        max = 243753000ns

====================================
Number of cameras detected: 1
====================================

      voxl2:/$ voxl-camera-server
detected system image 1.7.10
using new imx412 defaults
detected system image 1.7.10
using new imx412 defaults
=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking_front
    sensor type:         ar0144
    isEnabled:           0
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           1
    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_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: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

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

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

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      0
    large_video_width:   4056
    large_video_height:  3040

    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
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                hires_down
    sensor type:         imx412
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

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

    en_small_video:      1
    small_video_width:   640
    small_video_height:  480

    en_large_video:      1
    large_video_width:   4056
    large_video_height:  3040

    en_snapshot:         1
    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
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #3
    name:                tracking_down
    sensor type:         ar0144
    isEnabled:           1
    camId:               3
    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_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: 33000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
Skipping Camera: tracking_front, configuration marked disabled
Starting Camera: hires_front (id #1)
WARNING: cam hires_front (id 1) does not seem to be alive
Starting Camera: hires_down (id #2)
WARNING: cam hires_down (id 2) does not seem to be alive
Starting Camera: tracking_down (id #3)
WARNING: cam tracking_down (id 3) does not seem to be alive
ERROR:   failed to initialize any cameras

------ voxl-camera-server: Started 0 of 4 cameras

------ voxl-camera-server: Camera server is now running

------ voxl-camera-server: Camera server is now stopping
Connected to cpu-monitor

------ voxl-camera-server: Camera server exited gracefully, returning -1
      posted in Ask your questions right here!
      J
      jcai