ROTATE_180_DEG issue with imx577 and socket D

BearrGod

Hello everyone. Two distincs troubles with my setup.

I'm using the latest depthai 2.30.0 and my device is the 4pffc with the latest firmware. I'm powering my device on the jack barrel connector with a stable power supply so no issues on that side.

1 - IMX477 on socket D :

 The imx477 is simply not detected as a camera on my socket D despite it being 4 lanes.  The exact same camera works perfectly fine on the socket A

2 - ROTATE_180_DEG :

The ROTATE_180_DEG does not work with the imx577 camera(artifacts and image is kind of halfed) . No matter the socket. And on the flip side , it works perfecty with the imx477. I read on other threads on the forum that the issue is being worked on. When can i hope for some fix on the matter ?

Solving any of those two issues would be good for me because i'm stuck on the socket D to use as color camera due to hardware constrains on the product i'm designing.

jakaskerl

BearrGod And on the flip side , it works perfecty with the imx477. I read on other threads on the forum that the issue is being worked on. When can i hope for some fix on the matter ?

End of next week is expected. Please ping me then if I don't circle back.

For the first issue, would you mind running the cam test with DEPTHAI_DEBUG=1 and pasting the output?

Thanks,
Jaka

BearrGod

jakaskerl Thanks for giving me a day on the first matter. I ran the test with DEPTHAI_DEBUG=1 as you asked. Here is the result :

'[2025-07-04 16:43:32.012] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'

[2025-07-04 16:43:32.012] [depthai] [debug] Python bindings - version: 2.30.0.0.dev0+151b30960ba9863abec3a9e0f7dedfeb591152bd from 2025-03-18 12:45:46 +0100 build: 2025-07-03 11:18:04 +0000

[2025-07-04 16:43:32.012] [depthai] [debug] Library information - version: 2.30.0, commit: e0f6b52d048ef7ceac2ecd44deb2e161dbb97699 from 2025-03-18 12:44:00 +0100, build: 2025-07-03 11:18:04 +0000, libusb enabled: true

[2025-07-04 16:43:32.016] [depthai] [debug] Initialize - finished

[2025-07-04 16:43:32.075] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 60ms

[2025-07-04 16:43:32.422] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a62b2ccb0bc493c2fb41694cb81c08887be24c52.tar.xz' open: 1ms, archive read: 407ms

[2025-07-04 16:43:32.657] [host] [debug] Device - OpenVINO version: universal

[1844301001AD45F500] [3.1] [1751640212.657] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":5,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}

libnop:

0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 05 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb

0020: 00 be be be be be be 01 00 bb 00 be be

[2025-07-04 16:43:32.677] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.1, mxid=1844301001AD45F500, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only

[2025-07-04 16:43:32.682] [depthai] [debug] Connected bootloader version 0.0.28

[1844301001AD45F500] [3.1] [1751640213.644] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 962ms

[2025-07-04 16:43:33.645] [depthai] [debug] DeviceBootloader about to be closed...

[2025-07-04 16:43:33.646] [depthai] [debug] XLinkResetRemote of linkId: (0)

[2025-07-04 16:43:34.884] [depthai] [debug] DeviceBootloader closed, 1239

[2025-07-04 16:43:34.890] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.1, mxid=1844301001AD45F500, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only

[1844301001AD45F500] [3.1] [8.206] [system] [warning] PRINT:LeonCss: [OK]: INIT_NOC: noc probes timer create

[OK]: INIT_NOC: noc probes timer start

[OK]: INIT_NOC: ddr bandwith profiling!

GPIO boot mode 0x3, interface SPI_MASTER_EFF

Setting aons(0..4) back to boot from flash (offset = 0)

====ENABLE WATCHDOG====1

initial keepalive, countdown: 10

PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000

Board init ret 3

DepthAI Firmware - version: a62b2ccb0bc493c2fb41694cb81c08887be24c52

eeprom configuration version: 55AA0007

Reading VERSION 7 --- ->

eeprom configuration load from user area, status: 0

Reading VERSION 7 --- ->

Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P

Board options: 00000000

--> brdInit ...

brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: 20 bb 19

Initialized pin: 43, mode: 7, level: 0, pad: 0x00000010

Initialized pin: 15, mode: 7, level: 1, pad: 0x00000010

Initialized pin: 42, mode: 15, level: 0, pad: 0x00000050

inited hal ---

def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06

val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06

Opening bus for IR driver: 0

Failed to probe IR driver LM3644

Opening bus for IR driver: 1

Failed to probe IR driver LM3644

Opening bus for IR driver: 2

Failed to probe IR driver LM3644

Opening bus for IR driver: 3

Failed to probe IR driver LM3644

Closing EEPROm!

MyriaX board configuration

pll0 frequency: 700000, ref0 frequency: 24000

Is booted from flash by bootloader: 0

Networking not available...

=== Enumerating on socket: Cam_A / RGB / Center

initial keepalive, countdown: 9

initial keepalive, countdown: 8

    skipped TINY1C

=== Enumerating on socket: Cam_B / Left

initial keepalive, countdown: 7

initial keepalive, countdown: 6

    skipped TINY1C

=== Enumerating on socket: Cam_C / Right

initial keepalive, countdown: 5

initial keepalive, countdown: 4

    skipped TINY1C

=== Enumerating on socket: CAM_D

initial keepalive, countdown: 3

initial keepalive, countdown: 2

    skipped TINY1C

=== Enumerating on socket: Aux

    skipped OV9282

    skipped OV7251

    skipped IMX214

    skipped AR0234

    skipped S5K33D

    skipped IMX378

    skipped IMX296

    skipped IMX462

    skipped IMX678

    skipped IMX715

    skipped IMX283

    skipped OV5645

initial keepalive, countdown: 1

Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P

Initializing XLink...

UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH

UsbPumpVscAppI_Event: 2 VSC2_EVENT_SUSPEND

UsbPumpVscAppI_Event: 3 VSC2_EVENT_RESUME

UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET

UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP

Done!

Usb connection speed: Super+ - USB 3.1

Temperature: Driver registered.

Temperature: Initialized driver.

Temperature: Sensor opened: CSS.

Temperature: Sensor opened: MSS.

Temperature: Sensor opened: UPA.

Temperature: Sensor opened: DSS.

[1844301001AD45F500] [3.1] [1751640222.179] [host] [debug] Schema dump: {"connections":[{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,3,189,0,255,0,1,0,129,56,4,129,128,7,255,255,255,255,1,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,114,103,98,0]}]]}

[1844301001AD45F500] [3.1] [1751640222.179] [host] [debug] Asset map dump: {"map":{}}

[1844301001AD45F500] [3.1] [8.209] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.50 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 1 MB/s

[1844301001AD45F500] [3.1] [8.209] [system] [info] Temperatures - Average: 52.02C, CSS: 53.33C, MSS 51.80C, UPA: 51.80C, DSS: 51.14C

[1844301001AD45F500] [3.1] [8.209] [system] [info] Cpu Usage - LeonOS 26.71%, LeonRT: 0.31%

[1844301001AD45F500] [3.1] [8.216] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 11180696] [XLin] startSync:186 Timesync | Callback not set

[2025-07-04 16:43:42.191] [depthai] [info] Logging disabled

[1844301001AD45F500] [3.1] [8.227] [ColorCamera(0)] [error] Camera not detected on socket: 3

[1844301001AD45F500] [3.1] [8.228] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B

Connected cameras: []

USB speed: UsbSpeed.SUPER_PLUS

Bootloader version: 0.0.28

[1844301001AD45F500] [3.1] [8.264] [system] [info] ImageManip internal buffer size '366080'B, shave buffer size '34816'B

[1844301001AD45F500] [3.1] [8.264] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [10-15]

ImageManip allocated resources: shaves: [15-15] no cmx slices.

[1844301001AD45F500] [3.1] [8.271] [system] [warning] PRINT:LeonCss: ERROR: couldn't open sensor: @S1�

[1970-01-01 00:00:08.267] [info] Time taken to build the pipeline: 39ms

[1844301001AD45F500] [3.1] [8.272] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created

Initing ImgPreproc system!

Pre-proc Enc mem used: 138240 bytes. Available: 366080

LRT - build pipeline call

[1844301001AD45F500] [3.1] [8.282] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents

Reading VERSION 7 --- ->

[1844301001AD45F500] [3.1] [8.293] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->

Reading from Factory EEPROM contents

Reading VERSION 7 --- ->

Device name: OAK-FFC-4P Product name: OAK-FFC-4P

[1844301001AD45F500] [3.1] [8.315] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->

[1844301001AD45F500] [3.1] [9.210] [system] [info] Memory Usage - DDR: 136.59 / 333.26 MiB, CMX: 2.46 / 2.50 MiB, LeonOS Heap: 9.57 / 81.70 MiB, LeonRT Heap: 3.35 / 39.87 MiB / NOC ddr: 13 MB/s

[1844301001AD45F500] [3.1] [9.210] [system] [info] Temperatures - Average: 52.46C, CSS: 53.55C, MSS 52.02C, UPA: 52.46C, DSS: 51.80C

[1844301001AD45F500] [3.1] [9.210] [system] [info] Cpu Usage - LeonOS 3.24%, LeonRT: 4.47%

[1844301001AD45F500] [3.1] [10.211] [system] [info] Memory Usage - DDR: 136.59 / 333.26 MiB, CMX: 2.46 / 2.50 MiB, LeonOS Heap: 9.57 / 81.70 MiB, LeonRT Heap: 3.35 / 39.87 MiB / NOC ddr: 0 MB/s

[1844301001AD45F500] [3.1] [10.211] [system] [info] Temperatures - Average: 52.51C, CSS: 53.77C, MSS 52.02C, UPA: 52.24C, DSS: 52.02C

[1844301001AD45F500] [3.1] [10.211] [system] [info] Cpu Usage - LeonOS 0.35%, LeonRT: 0.06%

jakaskerl

BearrGod
Which script are you trying to run? Also I see you have a flashed bootloader. Is this intentional (are you flashing the app to the device?) If not, I'd recommend you to flash USB recovery header over it. It makes the device consume less power and makes it act as a USB device (like OAK-D). https://docs.luxonis.com/software/depthai/examples/flash_usb_recovery_header/

Thanks,
Jaka

BearrGod

jakaskerl Thanks for the reply but i did not intend to flash the app onto the device . I'm using a simple python code :

import depthai as dai
import cv2

# Create pipeline
pipeline = dai.Pipeline()

# Define source and output
camRgb = pipeline.createColorCamera()
xoutRgb = pipeline.createXLinkOut()
xoutRgb.setStreamName("rgb")

# Properties
camRgb.setPreviewSize(1920, 1080)
camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_D)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
camRgb.setFps(30)

# Linking
camRgb.preview.link(xoutRgb.input)

# Connect to device and start pipeline
with dai.Device(pipeline, maxUsbSpeed=dai.UsbSpeed.SUPER_PLUS) as device:
    # Print device info
    print("Connected cameras:", device.getConnectedCameraFeatures())
    print("USB speed:", device.getUsbSpeed())
    
    bootloader_version = device.getBootloaderVersion()
    if bootloader_version:
        print("Bootloader version:", bootloader_version)
    
    print("Device name:", device.getDeviceName(), 
          "Product name:", device.getProductName())

    # Get output queue
    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

    # Main loop
    while True:
        inRgb = qRgb.get()
        frame = inRgb.getCvFrame()

        cv2.imshow("rgb", frame)
        key = cv2.waitKey(1)
        if key in [ord('q'), ord('Q')]:
            break

    cv2.destroyAllWindows()

I alse reflashed USB recovery header with the script you indicated , and the behavious is still the same. No IMX477 on socket D.

jakaskerl

Hi BearrGod
I have tested and tried to repro this down to the commit version. Our output logs are the same, just that my camera always works.

What IMX477 module are you using? UC-698?
Can you try another module (non-477) on the D socket?
What does luxonis/depthai-pythonblob/main/examples/calibration/calibration_dump.py output?

Thanks,
Jaka

BearrGod

jakaskerl I'm using a custom imx477 that is based on the design of the UC-698 arducam imx477 ( since they discontinued it) .

The imx577 (UC-B07 , Rev.A) is detected and works fine on the socket D (asside from the rotation problem) .

Here is the result of calibration dumping :

Is EEPROM available: True
User calibration: {
  "batchName": "",
  "batchTime": 1700440841,
  "boardConf": "IR-C00M00-00",
  "boardCustom": "",
  "boardName": "DD2090",
  "boardOptions": 0,
  "boardRev": "R7M1E7",
  "cameraData": [],
  "deviceName": "",
  "hardwareConf": "F0-FV00-BC000",
  "housingExtrinsics": {
    "rotationMatrix": [],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "miscellaneousData": [],
  "productName": "OAK-FFC-4P",
  "stereoEnableDistortionCorrection": false,
  "stereoRectificationData": {
    "leftCameraSocket": 255,
    "rectifiedRotationLeft": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rightCameraSocket": 255
  },
  "stereoUseSpecTranslation": true,
  "version": 7,
  "verticalCameraSocket": -1
}
Factory calibration: {
  "batchName": "",
  "batchTime": 1700440841,
  "boardConf": "IR-C00M00-00",
  "boardCustom": "",
  "boardName": "DD2090",
  "boardOptions": 0,
  "boardRev": "R7M1E7",
  "cameraData": [],
  "deviceName": "",
  "hardwareConf": "F0-FV00-BC000",
  "housingExtrinsics": {
    "rotationMatrix": [],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "miscellaneousData": [],
  "productName": "OAK-FFC-4P",
  "stereoEnableDistortionCorrection": false,
  "stereoRectificationData": {
    "leftCameraSocket": 255,
    "rectifiedRotationLeft": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rightCameraSocket": 255
  },
  "stereoUseSpecTranslation": true,
  "version": 7,
  "verticalCameraSocket": -1
}
User calibration raw: [7, 0, 170, 85, 0, 0, 0, 0, 0, 68, 68, 50, 48, 57, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 55, 77, 49, 69, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 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jakaskerl

BearrGod
That is very strange.
I have the exact same setup as you and am not getting any issues.
We can safely assume that neither the camera module, nor the connector are damaged. So it would seem like a FW issue. But then again, I use the same FW as you, down to the same commit.

I would have to resort back to powering, can you retry without the barrel jack supply?

In the meantime, I'll sync with the team.

Thanks,
Jaka

BearrGod

jakaskerl Indeed it is very strange. I just tested with usb powering and the camera is still not detected. I also changed carrier boards :

The 4CAM FFC R5M1E5
The 4CAM FFC R7M1E7
A custom carrier board integrated in my product.

And still nothing changes , my imx477 is not detected.

jakaskerl

BearrGod
Can you swap the UC796 cable? And check if it is correctly oriented. The device acts exactly as if the camera is not connected. The I2C logic doesn't even probe the camera since the socket is recognized as empty.

Thanks,
Jaka

jakaskerl

@BearrGod
try this and post the output:

DEPTHAI_DEVICE_BINARY=depthai_custom_binary.mvcmd DEPTHAI_DEBUG=1 python3 script.py

BearrGod

jakaskerl I got it to work! It seams i was having a hardware problem. I changed the cables and picked up a new R7M1E7 carrier board and got this output with DEBUG=1 . Thanks a lot for your help !!!

[2025-07-10 16:47:47.898] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2025-07-10 16:47:47.898] [depthai] [debug] Python bindings - version: 2.30.0.0.dev0+151b30960ba9863abec3a9e0f7dedfeb591152bd from 2025-03-18 12:45:46 +0100 build: 2025-07-03 11:18:04 +0000
[2025-07-10 16:47:47.898] [depthai] [debug] Library information - version: 2.30.0, commit: e0f6b52d048ef7ceac2ecd44deb2e161dbb97699 from 2025-03-18 12:44:00 +0100, build: 2025-07-03 11:18:04 +0000, libusb enabled: true
[2025-07-10 16:47:47.902] [depthai] [debug] Initialize - finished
[2025-07-10 16:47:47.964] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 64ms
[2025-07-10 16:47:48.284] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a62b2ccb0bc493c2fb41694cb81c08887be24c52.tar.xz' open: 1ms, archive read: 384ms
[2025-07-10 16:47:48.534] [host] [debug] Device - OpenVINO version: universal
[1844301001AD45F500] [3.1] [1752158868.534] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":5,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 05 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be
[2025-07-10 16:47:49.835] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.1, mxid=1844301001AD45F500, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[1844301001AD45F500] [3.1] [6.986] [system] [warning] PRINT:LeonCss: [OK]: INIT_NOC: noc probes timer create
[OK]: INIT_NOC: noc probes timer start
[OK]: INIT_NOC: ddr bandwith profiling!
BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0xEB4AFD53
GPIO boot mode 0x3, interface SPI_MASTER_EFF
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 10
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: a62b2ccb0bc493c2fb41694cb81c08887be24c52
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P
Board options: 00000000
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: 20 bb 19
Initialized pin: 43, mode: 7, level: 0, pad: 0x00000010
Initialized pin: 15, mode: 7, level: 1, pad: 0x00000010
Initialized pin: 42, mode: 15, level: 0, pad: 0x00000050
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
Opening bus for IR driver: 0
Failed to probe IR driver LM3644
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Is booted from flash by bootloader: 0
Networking not available...
=== Enumerating on socket: Cam_A / RGB / Center
initial keepalive, countdown: 9
initial keepalive, countdown: 8
        skipped TINY1C
=== Enumerating on socket: Cam_B / Left
initial keepalive, countdown: 7
initial keepalive, countdown: 6
        skipped TINY1C
=== Enumerating on socket: Cam_C / Right
initial keepalive, countdown: 5
initial keepalive, countdown: 4
        skipped TINY1C
=== Enumerating on socket: CAM_D
A12N02A (imx378): no EEPROM found, will operate without
  >> Registered camera A12N02A (imx378) as /dev/Camera_3
camera socket: 3, name: CAMD-4L
        config - w: 1920, h: 1080, type: COLOR
        config - w: 3840, h: 2160, type: COLOR
        config - w: 4056, h: 3040, type: COLOR
        config - w: 1352, h: 1012, type: COLOR
        config - w: 2024, h: 1520, type: COLOR
Adding socket 3: cam 2. Sen name: IMX477
=== Enumerating on socket: Aux
        skipped OV9282
        skipped OV7251
        skipped IMX214
        skipped AR0234
        skipped S5K33D
        skipped IMX378
        skipped IMX296
        skipped IMX462
        skipped IMX678
        skipped IMX715
        skipped IMX283
        skipped OV5645
initial keepalive, countdown: 3
initial keepalive, countdown: 2
Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P
Initializing XLink...
UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
UsbPumpVscAppI_Event: 2 VSC2_EVENT_SUSPEND
UsbPumpVscAppI_Event: 3 VSC2_EVENT_RESUME
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
initial keepalive, countdown: 1
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
Done!
Usb connection speed: Super+ - USB 3.1
Temperature: Driver registered.
Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[1844301001AD45F500] [3.1] [1752158876.839] [host] [debug] Schema dump: {"connections":[{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,3,189,0,255,0,1,0,129,56,4,129,128,7,255,255,255,255,1,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,114,103,98,0]}]]}
[1844301001AD45F500] [3.1] [1752158876.839] [host] [debug] Asset map dump: {"map":{}}
[1844301001AD45F500] [3.1] [6.988] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.50 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 1 MB/s
[1844301001AD45F500] [3.1] [6.988] [system] [info] Temperatures - Average: 45.72C, CSS: 46.45C, MSS 45.77C, UPA: 45.32C, DSS: 45.32C
[1844301001AD45F500] [3.1] [6.988] [system] [info] Cpu Usage - LeonOS 44.35%, LeonRT: 0.36%
[1844301001AD45F500] [3.1] [6.996] [system] [warning] PRINT:LeonCss: I: [Timesync] [  12899268] [XLin] startSync:186     Timesync | Callback not set
[2025-07-10 16:47:56.851] [depthai] [info] Logging disabled
[1844301001AD45F500] [3.1] [7.008] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[1844301001AD45F500] [3.1] [7.044] [system] [info] ImageManip internal buffer size '366080'B, shave buffer size '34816'B
[1844301001AD45F500] [3.1] [7.044] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [10-15] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 

[1844301001AD45F500] [3.1] [7.051] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:07.046] [info] Time taken to build the pipeline: 39ms
== FSYNC enabled for cam mask 0x0
CAM ID: 3, width: 3840, height: 2160, orientation: 0
imx378_set_config: [3] 3840 x 2160, 30.00 fps, isIMX58x 0, HDR 0
getDefaultDtp: camType:2, color:1, orientation:0
DTP: ext_dtp_database
Loaded DTP, handle 0x84315368
== SW-SYNC: 0, cam mask 0x8
!!! Master Slave config is: single_master_slave !!!
Starting camera 3, server 0x84315368
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 3" sent

[1844301001AD45F500] [3.1] [7.051] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created
Initing ImgPreproc system!

Pre-proc Enc mem used: 138240 bytes. Available: 366080 
LRT - build pipeline call
[1844301001AD45F500] [3.1] [7.062] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x8886c700
[E] hai_cm_driver_load_dtp():852: Features for camera A12N02A (imx378) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
camera_id 3: 3A-sync to camera_alt_id 3
Connected cameras: [{socket: CAM_D, sensorName: IMX477, width: 4056, height: 3040, orientation: AUTO, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: CAMD-4L}]
USB speed: UsbSpeed.SUPER_PLUS
[1844301001AD45F500] [3.1] [7.073] [system] [warning] PRINT:LeonCss: [E] camera_control_start():360: Camera_id = 3 started.

============================ Configuring IMX477 with mode 0
Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[1844301001AD45F500] [3.1] [7.084] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->
[1844301001AD45F500] [3.1] [7.095] [system] [warning] PRINT:LeonCss: ========== IMX378 /dev/i2c.Camera_3_sen, FSIN enable 0, output 0
[E] vpipe_conv_config():1465: Exit Ok
[E] callback():133: Camera CB START_DONE event.
inc_camera_process set exposure and gain
Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[1844301001AD45F500] [3.1] [7.106] [system] [warning] PRINT:LeonCss: Starting Guzzi command handling loop...
Reading..........Reading VERSION 7 --- ->
[1844301001AD45F500] [3.1] [7.106] [system] [warning] PRINT:LeonMss: MIPI DPHY 6 error, stat 0x30
Device name: OAK-FFC-4P Product name: OAK-FFC-4P
[1844301001AD45F500] [3.1] [7.161] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[1844301001AD45F500] [3.1] [7.182] [XLinkOut(1)] [info] Increasing 'rgb' stream size from 5242880B to 6272000B
[1844301001AD45F500] [3.1] [7.990] [system] [info] Memory Usage - DDR: 136.59 / 333.26 MiB, CMX: 2.46 / 2.50 MiB, LeonOS Heap: 21.67 / 81.70 MiB, LeonRT Heap: 3.52 / 39.87 MiB / NOC ddr: 849 MB/s
[1844301001AD45F500] [3.1] [7.991] [system] [info] Temperatures - Average: 49.47C, CSS: 51.14C, MSS 49.37C, UPA: 48.47C, DSS: 48.92C