@tom There's a couple, which I'm guessing have to do with all those modules not getting loaded anymore:
ifconfigvoxl-configure-cameras returns cat: /sys/module/voxl_platform_mod/parameters/config: No such file or directoryThere may be more, but I haven't dug too deep into finding all the effects
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
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
@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?
@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:
@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.
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.
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?
@Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file
@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
@jcai said in VOXL2 Camera Configuration not found:
@tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.
My camera is connected to J5 on the breakout, which should be hires_down. Using
voxl-inspect-cam, the camera shows up as hires_front.Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.
Thanks Travis, I was able to get a build with the correct configuration options as well as my own changes. However, the issues I described above are still present. Could this be a hardware fault?
Also, I have a custom kernel build (that wasn't being used during my issues in my last comment) created by following this guide: https://docs.modalai.com/voxl2-kernel-build-guide/
The only change I made in this kernel was to enable CONFIG_MACVLAN=y by editing kona-perf_defconfig in
apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/configs/m0054
However, as you said, this kernel version doesn't support the M0173 breakout board. How do I build a version that does while also adding my macvlan config?
@tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.
My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.
Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.
Hello,
I'm using a VOXL2 (board only), a micro-coax camera adapter (M0173), and an IMX412 (M0161).
I'm following the documentation here. When configuring SKU, I can set 20 for VOXL2-board-only but camera configurations 26-30 don't appear. The same is true if I run voxl-configure-camera.
Any ideas as to the cause? All components are connected to the VOXL already.
VOXL currently thinks it is in the following hardware:
family code: MCCA-M0054 (voxl2-board-only)
compute board: 4 (voxl2)
hw version: 1
cam config: 0
modem config: ()
tx config: ()
extras config: ()
SKU: MCCA-M0054-C0-M0-X0
If this is what you want, select 1 (accept and continue) to
leave it as-is. Otherwise, select the desired product family:
1) accept and continue 12) voxlcam
2) starling-2 13) seeker
3) starling-2-max 14) rb5-flight
4) starling 15) flight-deck
5) px4-autonomy-dev-kit 16) voxl-deck
6) sentinel 17) voxl2-flight-deck
7) fpv 18) voxl2-test-fixture
8) D0010 19) voxl2-mini-test-fixture
9) stinger 20) voxl2-board-only
10) D0015 21) voxl2-mini-board-only
11) m500 22) quit
#? 20
selected voxl2-board-only
------------------------------------------------------------------
If you would like to select a special camera config that differs
from the default for your product family, please select an option.
Simply hit ENTER to use the default
01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
22 - D0013 voxl2 mini dual ar0144
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 COAX dual ar0144 tracking
32 - D0008 triple ov9782 rotated
C - use user-defined custom camera config in
(/data/modalai/custom_camera_config.txt)
q - Quit The Wizard
Simply hit ENTER to use the default
selection: ^C
Thanks,
Josh
@Alex-Kushleyev Yup, editing kona-perf_defconfig looks to have worked, thanks!
@Alex-Kushleyev I think this is just an issue with Windows drivers. I ended up switching over to OSX to use adb and fastboot, no issues there. I'm just using a USB drive to get the .img file from the VM to the Mac. Boot tests look good.
One more thing, I'm looking at the kernel build guide and there's a section that says I can enable in tree drivers by editing:
apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/m005x.cfg
I don't have this file in my system. the closest I found is ../linux-msm/files/configs/m0054. In this directory, there's kona_defconfig and kona-perf_defconfig. What's the difference between these two files? Are these the correct files to be editing to enable, for example, CONFIG_MACVLAN?
@Alex-Kushleyev I've managed to get the build working, thanks! I think the problems started because my initial docker image was built with sudo. Removing the workspace folder and starting from scratch got everything set up as user.
I'm now attempting to test the build using:
adb reboot bootloader
fastboot boot your_new_kernel.img
Are there specific drivers I need to download? Once I put the voxl into bootloader, VirtualBox can't detect the device anymore. The same is true on my Windows host. As a result, running fastboot boot new_kernel.img gives me a constant <waiting for any device> message. As reference, here's my device manager during normal and bootloader modes. The "Android" device also comes and goes. It usually exists for a couple seconds before disappearing.
On the host:
jcai@jcai-VirtualBox:~/qrb5165-kernel-build-docker/workspace/lu.um.1.2.1/apps_proc$ ls -lah
total 48K
drwxr-xr-x 8 root root 4.0K Oct 9 15:42 .
drwxr-xr-x 3 root root 4.0K Oct 8 13:03 ..
drwxrwxr-x 2 1001 1001 20K Aug 23 2022 deb_premirror_packages
drwxr-xr-x 5 root root 4.0K Oct 8 17:27 disregard
drwxr-xr-x 2 root root 4.0K Oct 9 09:49 downloads
drwxr-xr-x 34 root root 4.0K Oct 9 15:25 poky
drwxr-xr-x 7 root root 4.0K Oct 9 15:23 .repo
lrwxrwxrwx 1 root root 27 Oct 8 17:33 setup-environment -> poky/qti-conf/set_bb_env.sh
drwxr-xr-x 25 root root 4.0K Oct 8 17:31 src
In Docker:
user@8de0065c2813:~/build_mount/lu.um.1.2.1/apps_proc$ ls -lah
total 48K
drwxr-xr-x 8 root root 4.0K Oct 9 19:42 .
drwxr-xr-x 3 root root 4.0K Oct 8 17:03 ..
drwxrwxr-x 2 1001 1001 20K Aug 23 2022 deb_premirror_packages
drwxr-xr-x 5 root root 4.0K Oct 8 21:27 disregard
drwxr-xr-x 2 root root 4.0K Oct 9 13:49 downloads
drwxr-xr-x 34 root root 4.0K Oct 9 19:25 poky
drwxr-xr-x 7 root root 4.0K Oct 9 19:23 .repo
lrwxrwxrwx 1 root root 27 Oct 8 21:33 setup-environment -> poky/qti-conf/set_bb_env.sh
drwxr-xr-x 25 root root 4.0K Oct 8 21:31 src
Yeah, ownership looks like an issue here
@Alex-Kushleyev I was only able to follow the guide exactly until I got into the container. From there , all the scripts inside were run with sudo. Otherwise, I would get permission issues like below.
