Hi!

I'm trying to hardware sync 2 x OAK-FFC OV9282, 1 x OAK-FFC IMX378 in a OAK-FFC 4P board. I use latest DepthAi version v2.21.2, bootloader on device is on 0.24, latest. Cables between devices are ok, and all devices works ok under depthai_demo.

I take as reference, hardware sync from documentation and a post on this forum. This is my code in c++ :

#include "depthai/depthai.hpp"
#include <ostream>

int main(int argc, char* argv[]) {

                   dai::Pipeline pipeline;

                    auto odispa = pipeline.create<dai::node::XLinkOut>();
                    auto ocolor = pipeline.create<dai::node::XLinkOut>(); 
                   
                    ocolor->setStreamName("rgb");
                    odispa->setStreamName("disparity");


                    auto color = pipeline.create<dai::node::ColorCamera>();
                    color->setInterleaved(true);
                    color->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
                    color->setFps(30);
                    color->setBoardSocket(dai::CameraBoardSocket::RGB);
                    color->setColorOrder( dai::ColorCameraProperties::ColorOrder::RGB);
                    color->initialControl.setFrameSyncMode( dai::CameraControl::FrameSyncMode::OUTPUT );
                    
                   
                    
                    auto left = pipeline.create<dai::node::MonoCamera>();
                    left->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
                    left->setBoardSocket(dai::CameraBoardSocket::LEFT);
                    left->setFps(30);
                    left->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);
                   
                    auto right = pipeline.create<dai::node::MonoCamera>();
                    right->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
                    right->setBoardSocket(dai::CameraBoardSocket::RIGHT);
                    right->setFps(30);
                    right->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);
                   

                    auto stereo = pipeline.create<dai::node::StereoDepth>();
                    stereo->initialConfig.setConfidenceThreshold(254);
                    stereo->initialConfig.setMedianFilter(static_cast<dai::MedianFilter>(0));
                    if(false){ stereo->initialConfig.setBilateralFilterSigma(65000); }
                    stereo->setRectifyEdgeFillColor(0);     
                    stereo->setLeftRightCheck(true);
                    stereo->setExtendedDisparity(false);
                    stereo->setSubpixel(true);  
                    
                    stereo->setDepthAlign(static_cast<dai::CameraBoardSocket>(0));
                      
                    left->out.link(stereo->left);
                    right->out.link(stereo->right);
                    stereo->disparity.link(odispa->input);
                    color->isp.link(ocolor->input);
                       
                    pipeline.getDeviceConfig().board.gpio[6] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::Direction::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);
                    
                    dai::Device device(pipeline);
                    device.setLogLevel(dai::LogLevel::DEBUG);
                    device.setLogOutputLevel(dai::LogLevel::DEBUG);

                    auto dispq = device.getOutputQueue("disparity",1, false);
                    auto rgbq = device.getOutputQueue("rgb",1, false);
                 
                    while (true) {
                        
                        try{
                                
                            auto dispf = dispq->get<dai::ImgFrame>();
                            auto rgbf = rgbq->get<dai::ImgFrame>();
                          
                            if(dispf && rgbf){
                                int64_t cft = rgbf->getTimestampDevice().time_since_epoch().count();
                                int64_t dft = dispf->getTimestampDevice().time_since_epoch().count();
                                std::cout << "DIFF: " << (cft - dft) / 1000  << std::endl;
                            }

                        }catch(...){ 
                            std::cout << "ERROR CAPTURING DATA" << std::endl;
                            if(!device.isClosed()){device.close();};
                            break;
                        }
                            
                    }
    
};

Documentation its a little bit outdated, Fsyn its not specified for all sensors… for example if im trying to apply this fsyn values. If i choose LEFT or RIGHT to be master and output signal:

right->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);
left->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::OUTPUT);
color->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);

this is my ouput for a while, no frames syncing:

[19443010F117E01200] [1.2.3] [1.630] [StereoDepth(7)] [info] Calibrated FOV 97.355965 is over 85 degrees, enabling distortion correction.
[19443010F117E01200] [1.2.3] [1.657] [StereoDepth(7)] [info] Rectification mesh loaded, will override camera intrinsics/extrinsics matrices
[19443010F117E01200] [1.2.3] [1.657] [StereoDepth(7)] [info] Depth baseline: '11.09005' cm, focal length: '562.6896'
[19443010F117E01200] [1.2.3] [1.657] [StereoDepth(7)] [info] Depth horizontal FOV: '64.2428', vertical FOV: '38.946762'
[19443010F117E01200] [1.2.3] [2.302] [system] [info] Memory Usage - DDR: 75.98 / 340.34 MiB, CMX: 2.11 / 2.50 MiB, LeonOS Heap: 59.82 / 77.23 MiB, LeonRT Heap: 5.01 / 41.14 MiB
[19443010F117E01200] [1.2.3] [2.302] [system] [info] Temperatures - Average: 44.64C, CSS: 45.77C, MSS 43.73C, UPA: 44.41C, DSS: 44.64C
[19443010F117E01200] [1.2.3] [2.302] [system] [info] Cpu Usage - LeonOS 43.88%, LeonRT: 18.19%
[19443010F117E01200] [1.2.3] [3.303] [system] [info] Memory Usage - DDR: 75.98 / 340.34 MiB, CMX: 2.11 / 2.50 MiB, LeonOS Heap: 59.82 / 77.23 MiB, LeonRT Heap: 5.01 / 41.14 MiB
[19443010F117E01200] [1.2.3] [3.303] [system] [info] Temperatures - Average: 45.04C, CSS: 46.00C, MSS 44.87C, UPA: 44.87C, DSS: 44.41C
[19443010F117E01200] [1.2.3] [3.303] [system] [info] Cpu Usage - LeonOS 39.60%, LeonRT: 9.64%
[19443010F117E01200] [1.2.3] [4.304] [system] [info] Memory Usage - DDR: 75.98 / 340.34 MiB, CMX: 2.11 / 2.50 MiB, LeonOS Heap: 59.82 / 77.23 MiB, LeonRT Heap: 5.01 / 41.14 MiB
[19443010F117E01200] [1.2.3] [4.304] [system] [info] Temperatures - Average: 45.60C, CSS: 46.68C, MSS 45.09C, UPA: 45.55C, DSS: 45.09C
[19443010F117E01200] [1.2.3] [4.304] [system] [info] Cpu Usage - LeonOS 39.63%, LeonRT: 9.66%
[19443010F117E01200] [1.2.3] [5.305] [system] [info] Memory Usage - DDR: 75.98 / 340.34 MiB, CMX: 2.11 / 2.50 MiB, LeonOS Heap: 59.82 / 77.23 MiB, LeonRT Heap: 5.01 / 41.14 MiB
[19443010F117E01200] [1.2.3] [5.305] [system] [info] Temperatures - Average: 45.43C, CSS: 46.68C, MSS 44.87C, UPA: 45.55C, DSS: 44.64C
[19443010F117E01200] [1.2.3] [5.305] [system] [info] Cpu Usage - LeonOS 39.38%, LeonRT: 9.64%
...

Only works if i choose IMX, color as master, DIFF are in micros:

right->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);
left->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);
color->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::OUTPUT);

DIFF: 425 
DIFF: 418 
DIFF: 406 
DIFF: 404 
DIFF: 407 
DIFF: 407 
DIFF: 67063 
DIFF: 133719 
[19443010F117E01200] [1.2.3] [2.309] [system] [info] Memory Usage - DDR: 75.98 / 340.34 MiB, CMX: 2.11 / 2.50 MiB, LeonOS Heap: 59.82 / 77.23 MiB, LeonRT Heap: 5.01 / 41.14 MiB
[19443010F117E01200] [1.2.3] [2.309] [system] [info] Temperatures - Average: 43.96C, CSS: 45.32C, MSS 43.73C, UPA: 43.27C, DSS: 43.50C
[19443010F117E01200] [1.2.3] [2.309] [system] [info] Cpu Usage - LeonOS 59.31%, LeonRT: 23.73%
DIFF: 167044 
DIFF: 200368 
DIFF: 267023 
DIFF: 300349 
DIFF: 333677 
DIFF: 366998 
DIFF: 400326 
DIFF: 433651 
DIFF: 466985 
DIFF: 500303 
DIFF: 533625 
DIFF: 566953 
DIFF: 533617 
DIFF: 533616

but as you can see frame timestamp difference reach 600ms and no sync at all. I try to reduce fps but no luck, other important thing is this line:

pipeline.getDeviceConfig().board.gpio[6] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::Direction::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);
dai::Device device(pipeline);

I try to change order, but nothing happends. Can anyone point me?

Thanks