Which system do you use? Android, Ubuntu, OOWOW, or others?
Ubuntu
Which version of the system do you use? Please provide the version of the system here:
-
Official Khadas Ubuntu image built with Fenix.
-
Fenix configuration (from
make info):- Vendor: Amlogic
- Chip: A311D2
- Kernel: 5.15
- U-Boot: 2019.01
- Ubuntu Jammy (GNOME)
- Installation: eMMC
-
Linux kernel: 5.15.137 (Khadas official
khadas-vim-5.15.ybranch).
Please describe your issue below:
I am trying to use an Intel RealSense D435i on the Khadas VIM4.
The camera is connected directly to the USB 3.x port and enumerates correctly at 5 Gbps, and all UVC devices are created correctly.
However, when running a RealSense workload (using either ROS 2 or realsense-viewer), the USB host controller eventually stops responding. The kernel reports:
-
xHCI host not responding to stop endpoint command -
HC died -
USB disconnect of the RealSense device
The issue is also reproducible with realsense-viewer.
Some observations:
-
The camera negotiates a 5 Gbps SuperSpeed connection.
-
USB bandwidth does not appear to be the limiting factor.
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Simple V4L2 streaming tests can run successfully.
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The failure occurs specifically with the RealSense streaming workload.
To support the D435i IMU, I rebuilt the official 5.15.137 kernel only to enable the required HID/IIO kernel configuration options. I did not modify the xHCI driver, USB subsystem, UVC driver, or device tree. The issue remains unchanged.
I would like to know whether this is a known limitation or bug of the VIM4 USB/xHCI driver, and whether there are any recommended patches or configuration changes to support stable RealSense D435i operation.
Post a console log of your issue below:
Below the logs:
The relevant kernel messages include:
xhci-hcd-meson: xHCI host not responding to stop endpoint command.
xhci-hcd-meson: HC died
xhci-hcd-meson: xHCI host controller not responding, assume dead
usb 2-1: USB disconnect, device number 2