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我使用了两块板卡进行了分别验证，分别是Luckfox Pico Ultra W和Luckfox Pico Zero。按理来说除了板卡pcb和摄像头不同之外，其他硬件均相同配置，但使用Luckfox Pico Ultra W配合MIS5001 5MP Camera广角镜头时能够正常复现 luckfox_pico_rtsp_yolov5_demo非常流畅、检测速度快、帧率也比较高，奇怪的是使用Luckfox Pico Zero配合IMX415镜头同样复现 luckfox_pico_rtsp_yolov5_demo却出现卡顿报错情况，具体报错内容如下：
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[root@luckfox luckfox_pico_rtsp_yolov5_demo]# ./luckfox_pico_rtsp_yolov5
Stop Application ...
killall: rkipc: no process killed
killall: udhcpc: no process killed
rkipc exit
ls: /oem/usr/etc/init.d/S??*: No such file or directory
index=0, name=images, n_dims=4, dims=[1, 640, 640, 3], n_elems=1228800, size=1228800, fmt=NHWC, type=INT8, qnt_type=AFFINE, zp=-128, scale=0.003922
index=0, name=output0, n_dims=4, dims=[1, 80, 80, 255], n_elems=1632000, size=1632000, fmt=NHWC, type=INT8, qnt_type=AFFINE, zp=-128, scale=0.003922
index=1, name=286, n_dims=4, dims=[1, 40, 40, 255], n_elems=408000, size=408000, fmt=NHWC, type=INT8, qnt_type=AFFINE, zp=-128, scale=0.003922
index=2, name=288, n_dims=4, dims=[1, 20, 20, 255], n_elems=102000, size=102000, fmt=NHWC, type=INT8, qnt_type=AFFINE, zp=-128, scale=0.003922
model is NHWC input fmt
model input height=640, width=640, channel=3
init rknn model success!
load lable ./model/coco_80_labels_list.txt
Create Pool success !
rkaiq log level ff1
XCORE:K:rk_aiq_init_lib, ISP HW ver: 32
XCORE:K:
************************** VERSION INFOS **************************
version release date: 2024-2-18
AIQ: AIQ v5.0x5.0

git logs:
25bd14e RV1106: smart_door: release rga/isp/mpp for V1.3.0
99d080a RV1106/RV1103: Battery/Doorbell: release kmpp/rockit-ko for V1.3.2
6458e2a RV1106/RV1103: Battery/Doorbell: release kmpp/rockit-ko for V1.3.1
e8dab39 RV1106: CVR: release rga/isp/mpp for V1.1.0
a021b32 RV1106/RV1103: Battery/Doorbell: release kmpp/rockit-ko for V1.3.0

************************ VERSION INFOS END ************************

ID: 0, sensor_name is m00_b_imx415 4-0037, iqfiles is /etc/iqfiles
XCORE:K:rk_aiq_uapi_sysctl_preInit_devBufCnt: dev_ent:rkraw_rx, buf_cnt:2
XCORE:E:invalid main scene len!

IPCSERVER:K:cid[0] Process path:/tmp/UNIX.domain0, sockfd:23
XCORE:K:cid[0] rk_aiq_uapi_sysctl_init success. iq:/etc/iqfiles/imx415_CMK-OT2022-PX1_IR0147-36IRC-8M-F20.json
XCORE:K:cid[0] rk_aiq_uapi_sysctl_prepare success. mode:0
rk_aiq_uapi2_sysctl_init/prepare succeed
CAMHW:K:cid[0] start success. isGroup:0, isOnline:0, isMultiIsp:1, init_ens:0x1bfc8ffe472b
XCORE:K:cid[0] rk_aiq_uapi_sysctl_start success.
rk_aiq_uapi2_sysctl_start succeed
rockit log path (null), log_size = 0, can use export rt_log_path=, export rt_log_size= change
log_file = (nil)
RTVersion 22:18:12-328 {dump :064} ---------------------------------------------------------
RTVersion 22:18:12-329 {dump :065} rockit version: git-4720dc10a Tue Apr 30 15:47:55 2024 +0800
RTVersion 22:18:12-329 {dump :066} rockit building: built- 2024-04-30 15:53:43
RTVersion 22:18:12-330 {dump :067} ---------------------------------------------------------
(null) 22:18:12-330 {log_level_init :207}

please use echo name=level > /tmp/rt_log_level set log level
name: all cmpi mb sys vdec venc rgn vpss vgs tde avs wbc vo vi ai ao aenc adec
log_level: 0 1 2 3 4 5 6

rockit default level 4, can use export rt_log_level=x, x=0,1,2,3,4,5,6 change
(null) 22:18:12-331 {read_log_level :098} text is all=4
(null) 22:18:12-331 {read_log_level :100} module is all, log_level is 4
[INFO rtsp_demo.c:280:rtsp_new_demo] rtsp server demo starting on port 554
(null) 22:18:12-336 {monitor_log_level :149} #Start monitor_log_level thread, arg:(nil)
[DEBUG rtsp_demo.c:480:rtsp_new_session] add session path: /live/0
rtsp streamq_alloc size is 1753484
vi_dev_init
RKViDev 22:18:12-338 {vi_set_dev_attr :612} VI_DEV_ATTR_S all parameter reserved
RTIsp3x 22:18:12-341 {ispInitDevice :591} sensor name = m00_b_imx415 4-0037
RTDeviceSensorV4 22:18:12-343 {ispOpenDevice :502} v4l2_open(/dev/video0), handler=58
RTDeviceSensorV4 22:18:12-343 {ispOpenDevice :502} v4l2_open(/dev/v4l-subdev2), handler=60
RTDeviceSensorV4 22:18:12-344 {close :112} do RTDeviceSensorV4L2 close
RTDeviceSensorV4 22:18:12-345 {close :112} do RTDeviceSensorV4L2 close
RKViChn 22:18:12-346 {prepareRuntime :354} ---------------------------------------------------------
RKViChn 22:18:12-346 {prepareRuntime :356} vi version: 1.22, name:vvi
RKViChn 22:18:12-346 {prepareRuntime :357} rockit-ko version: vmpi:28ee389dbc33
RKViChn 22:18:12-347 {prepareRuntime :358} rockit-ko building: -2024-05-24-18:15:06
RKViChn 22:18:12-347 {prepareRuntime :359} ---------------------------------------------------------
cmpi 22:18:12-347 {prepareRuntime :378} mb pool create success, MBCnt= 2
RTIsp3x 22:18:12-349 {ispInitDevice :591} sensor name = m00_b_imx415 4-0037
cmpi 22:18:12-351 {createRuntime :634} >>>>>>>>> Sensor link info dump: <<<<<<<<<
cmpi 22:18:12-351 {createRuntime :636} vicap media name : /dev/media0
cmpi 22:18:12-351 {createRuntime :637} vicap model name : rkcif-mipi-lvds
cmpi 22:18:12-351 {createRuntime :638} camera id : 0
cmpi 22:18:12-351 {createRuntime :639} sensor name : m00_b_imx415 4-0037
cmpi 22:18:12-352 {createRuntime :641} stream_cif_mipi_id0 video name: /dev/video0
cmpi 22:18:12-352 {createRuntime :642} stream_cif_mipi_id1 video name: /dev/video1
cmpi 22:18:12-352 {createRuntime :643} stream_cif_mipi_id2 video name: /dev/video2
cmpi 22:18:12-352 {createRuntime :644} stream_cif_mipi_id3 video name: /dev/video3
cmpi 22:18:12-352 {createRuntime :646} sensor raw width : 3864
cmpi 22:18:12-352 {createRuntime :647} sensor raw height : 2192
cmpi 22:18:12-353 {createRuntime :648} ---------------------------------------------------------
cmpi 22:18:12-353 {createRuntime :654} isp media name : /dev/media1
cmpi 22:18:12-353 {createRuntime :655} isp model name : rkisp0
cmpi 22:18:12-353 {createRuntime :656} isp driver name : rkisp-unite0
cmpi 22:18:12-354 {createRuntime :657} isp dev name : /dev/v4l-subdev4
cmpi 22:18:12-354 {createRuntime :659} isp rawrd0_m_path : /dev/video17
cmpi 22:18:12-354 {createRuntime :660} isp rawrd1_l_path :
cmpi 22:18:12-355 {createRuntime :661} isp rawrd2_s_path : /dev/video18
cmpi 22:18:12-355 {createRuntime :664} mainpath video name : /dev/video11
cmpi 22:18:12-355 {createRuntime :665} selfpath video name : /dev/video12
cmpi 22:18:12-355 {createRuntime :666} bypasspath video name : /dev/video13
cmpi 22:18:12-356 {createRuntime :667} sensor link type : 2
cmpi 22:18:12-356 {createRuntime :668} sensor is united : 1
cmpi 22:18:12-356 {createRuntime :672} ---------------------------------------------------------
cmpi 22:18:12-356 {createRuntime :711} [non-WRAP MODE]: buff size = 518400
RTIsp3x 22:18:12-359 {ispInitDevice :591} sensor name = m00_b_imx415 4-0037
RTDeviceV4L2 22:18:12-361 {open :137} cameraIndex:0, entityName:rkisp_mainpath
RTDeviceV4L2 22:18:12-361 {open :143} open video name(/dev/video11)
RKViChn 22:18:12-361 {setFrameRate :1469} [vi] dev(0) ch(0) illegal param s32SrcFrameRate(0) s32DstFrameRate(0)
RTDeviceV4L2 22:18:12-362 {ispCameraInfo :567} current device:/dev/video11 isn't compatible(cap:0x84201000) device,memoryType:4, retry:0
RTDeviceV4L2 22:18:12-362 {ispInitFormat :767} ioctl VIDIOC_S_FMT OK
cmpi 22:18:12-363 {start :1093} =========== vi Start startRuntime ===========
RTDeviceV4L2 22:18:12-363 {ispStreamOn :458} do ispStreamOn start
CAMHW:K:camId:0, notify_isp_stream_status on
RTDeviceV4L2 22:18:12-367 {ispStreamOn :511} do ispStreamOn done
venc_init
MpiAdapterEncode 22:18:12-368 {ma_encode_create :1743} ringbuf buf_size 520192
MpiAdapterEncode 22:18:12-372 {ma_encode_create :1782} mem_fd = 64
venc init success
=== 0 ===
=== 1 ===
cmpi 22:18:12-567 {mb_get_buffer_by_i:433} allocated buffer(this=0x54f428, data=(nil), size=0, id=-1)
cmpi 22:18:12-568 {getFrameRuntime :1347} -------------------------------vviBuf->buf_size: 520192
person @ (310 -2 716 482) 0.471
MpiAdapterEncode 22:18:12-766 {ma_encode_get_pack:2079} map ptr: 0xa2409000, fd 70
[DEBUG utils.c:134:rtsp_codec_data_parse_from_user_h264] sps 29
[DEBUG utils.c:142:rtsp_codec_data_parse_from_user_h264] pps 4
cmpi 22:18:12-770 {mb_get_buffer_by_i:433} allocated buffer(this=0x550dd0, data=(nil), size=0, id=-1)
cmpi 22:18:12-771 {getFrameRuntime :1347} -------------------------------vviBuf->buf_size: 520192
AF:E:the time to wait motor move is too long, force stable
E RKNN: failed to submit!, op id: 29, op name: Conv:/model.6/cv3/conv/Conv, task start: 0, task number: 273, run task counter: 119, int status: 0, please try updating to the latest version of the toolkit2 and runtime from: https://console.zbox.filez.com/l/I00fc3 (PWD: rknn)
rknn_run fail! ret=-1
person @ (310 -2 716 482) 0.471
person @ (315 0 718 473) 0.663
person @ (490 3 720 477) 0.715
person @ (230 7 720 477) 0.338
person @ (24 -6 718 474) 0.537
person @ (18 4 720 472) 0.292
person @ (370 -6 720 339) 0.444
person @ (363 2 720 470) 0.511
E RKNN: failed to submit!, op id: 45, op name: Conv:/model.9/cv2/conv/Conv, task start: 0, task number: 273, run task counter: 148, int status: 0, please try updating to the latest version of the toolkit2 and runtime from: https://console.zbox.filez.com/l/I00fc3 (PWD: rknn)
rknn_run fail! ret=-1
person @ (363 2 720 470) 0.511
person @ (256 -3 713 471) 0.283
person @ (22 0 720 468) 0.373
E RKNN: failed to submit!, op id: 29, op name: Conv:/model.6/cv3/conv/Conv, task start: 0, task number: 273, run task counter: 120, int status: 0, please try updating to the latest version of the toolkit2 and runtime from: https://console.zbox.filez.com/l/I00fc3 (PWD: rknn)
rknn_run fail! ret=-1
person @ (22 0 720 468) 0.373
E RKNN: failed to submit!, op id: 29, op name: Conv:/model.6/cv3/conv/Conv, task start: 0, task number: 273, run task counter: 119, int status: 0, please try updating to the latest version of the toolkit2 and runtime from: https://console.zbox.filez.com/l/I00fc3 (PWD: rknn)
rknn_run fail! ret=-1
person @ (22 0 720 468) 0.373
E RKNN: failed to submit!, op id: 10, op name: Conv:/model.3/conv/Conv, task start: 0, task number: 273, run task counter: 72, int status: 0, please try updating to the latest version of the toolkit2 and runtime from: https://console.zbox.filez.com/l/I00fc3 (PWD: rknn)
rknn_run fail! ret=-1
person @ (22 0 720 468) 0.373
person @ (256 5 718 474) 0.261
person @ (266 9 716 470) 0.439
person @ (200 21 720 465) 0.342
person @ (313 1 720 470) 0.833

---------
我尝试了/etc/iqfiles/imx415....json文件中进行分辨率更改，模型大小从640*640降到320*320以及DISP_WIDTH/DISP_LENGTH缩小都无法根除问题，只能降低问题出现的频率，且基本上问题出现成周期性、每次移动摄像头视野中出现新物体也会出现上述报错，温度过高似乎也会出现类似问题。
使用dmesg | grep -i rknpu可以输出如下日志：
---------
[root@luckfox luckfox_pico_rtsp_yolov5_demo]# dmesg | grep -i rknpu
[ 411.485395] RKNPU: core 0 irq status: 0x0, raw status: 0xc0000, require mask: 0x300, task counter: 0x94, elapsed time: 6144191us
[ 411.605349] RKNPU: soft reset
[ 418.405395] RKNPU: job: 3967034d, wait_count: 1, continue_wait: 0, commit time: 6376526us, wait time: 6376533us, timeout time: 6000000us
[ 418.405424] RKNPU: failed to wait job, task counter: 120, flags: 0x1, ret = 0, elapsed time: 6376587us
[ 418.525377] RKNPU: job timeout, flags: 0x0:
[ 418.525416] RKNPU: core 0 irq status: 0x0, raw status: 0xc0000, require mask: 0x300, task counter: 0x78, elapsed time: 6496576us
[ 418.645361] RKNPU: soft reset
[ 424.805377] RKNPU: job: 3967034d, wait_count: 1, continue_wait: 0, commit time: 6086002us, wait time: 6086008us, timeout time: 6000000us
[ 424.805414] RKNPU: failed to wait job, task counter: 119, flags: 0x1, ret = 0, elapsed time: 6086079us
[ 424.925365] RKNPU: job timeout, flags: 0x0:
[ 424.925414] RKNPU: core 0 irq status: 0x0, raw status: 0xc0000, require mask: 0x300, task counter: 0x77, elapsed time: 6206075us
[ 425.045400] RKNPU: soft reset
[ 431.205409] RKNPU: job: 3967034d, wait_count: 1, continue_wait: 0, commit time: 6092794us, wait time: 6092801us, timeout time: 6000000us
[ 431.205445] RKNPU: failed to wait job, task counter: 72, flags: 0x1, ret = 0, elapsed time: 6092869us
[ 431.325375] RKNPU: job timeout, flags: 0x0:
[ 431.325420] RKNPU: core 0 irq status: 0x0, raw status: 0x0, require mask: 0x300, task counter: 0x48, elapsed time: 6212840us
[ 431.446578] RKNPU: soft reset
[ 438.885350] RKNPU: job: fea1b997, wait_count: 1, continue_wait: 0, commit time: 6618192us, wait time: 6618197us, timeout time: 6000000us
[ 438.885378] RKNPU: failed to wait job, task counter: 68, flags: 0x1, ret = 0, elapsed time: 6618248us
[ 439.005332] RKNPU: job timeout, flags: 0x0:
[ 439.005356] RKNPU: core 0 irq status: 0x0, raw status: 0xc0000, require mask: 0x300, task counter: 0x44, elapsed time: 6738225us
[ 439.125326] RKNPU: soft reset
[root@luckfox luckfox_pico_rtsp_yolov5_demo]#
---------

奇怪的就在这里，为什么Ultra运行的很好，Zero却不行呢（分别按照手册进行的编译【SDK】）

PS: 我发现Zero的CMA在烧录时配置的是100M，而Ultra W是66M，是否与这个有关系呢？

比较着急，麻烦尽快技术支持一下！

您好，这两款摄像头分辨率不一样，RV1106合并两个VI组件跑满ISP上加CPU升频才勉强能够使用IMX415跑15fps, 再跑yolov5 这种后处理有较大CPU占用的场景CPU和DDR都吃不消，想要解决卡顿流畅性问题是没有办法了，要解决报错频繁可以考虑修改设备树降频NPU，减少NPU处理时出现的内存问题误报算子运行错误，修改$/SDK/sysdrv/source/kernel/arch/arm/boot/dts/rv1106g-luckfox-pico-zero.dts 可以直接注释用默认配置或者改低数值

不清楚你使用 zero 板时，是否将 NPU 频率设置到了 700Mhz？我之前也入手过 zero 板，当时把这款板子的 NPU 频率拉到 700Mhz 后，就出现了和你类似的问题。
这个问题的出现大概率有两种可能：
1.芯片体质差异。我实际测试过，不管是 RV1106G2 还是 RV1106G3，都有能把 NPU 频率拉到 700Mhz 且稳定运行的情况；但同时也遇到过 RV1106G3 拉高频率后无法正常使用的情况。
2.PCB 设计问题。我自己绘制过两版 PCB，核心区别就在各路电源的走线设计上。第一版是严格按照官方硬件设计指南的要求绘制的，NPU 频率在 420Mhz 时使用完全无问题，可一旦拉到 700Mhz，就会出现你遇到的这类问题。之后我做了第二版 PCB，直接将所有电源走线的规格翻倍，把第一版上的同一颗芯片拆下来焊接到第二版上后，NPU 拉高频就能正常使用了。目前我还不确定具体是哪一路电源走线带来的影响，也有可能是第一版的电源回路本身存在问题，不过能确定的是，PCB 设计会直接影响 NPU 拉高频率后的使用效果。
至于你的 zero 板具体是哪种原因导致的问题，我因为只买过一块，没法给出确定结论，但按常理来说，将 NPU 频率保持在基础的 420Mhz，使用上应该是不会有问题的。

Crocodile wrote: ↑2026-01-30 1:21 您好，这两款摄像头分辨率不一样，RV1106合并两个VI组件跑满ISP上加CPU升频才勉强能够使用IMX415跑15fps, 再跑yolov5 这种后处理有较大CPU占用的场景CPU和DDR都吃不消，想要解决卡顿流畅性问题是没有办法了，要解决报错频繁可以考虑修改设备树降频NPU，减少NPU处理时出现的内存问题误报算子运行错误，修改$/SDK/sysdrv/source/kernel/arch/arm/boot/dts/rv1106g-luckfox-pico-zero.dts

Code: Select all

&npu {
        assigned-clock-rates = <700000000>;
};

可以直接注释用默认配置或者改低数值

好的谢谢改420MHz可以用了

pointer wrote: ↑2026-01-30 2:44 不清楚你使用 zero 板时，是否将 NPU 频率设置到了 700Mhz？我之前也入手过 zero 板，当时把这款板子的 NPU 频率拉到 700Mhz 后，就出现了和你类似的问题。
这个问题的出现大概率有两种可能：
1.芯片体质差异。我实际测试过，不管是 RV1106G2 还是 RV1106G3，都有能把 NPU 频率拉到 700Mhz 且稳定运行的情况；但同时也遇到过 RV1106G3 拉高频率后无法正常使用的情况。
2.PCB 设计问题。我自己绘制过两版 PCB，核心区别就在各路电源的走线设计上。第一版是严格按照官方硬件设计指南的要求绘制的，NPU 频率在 420Mhz 时使用完全无问题，可一旦拉到 700Mhz，就会出现你遇到的这类问题。之后我做了第二版 PCB，直接将所有电源走线的规格翻倍，把第一版上的同一颗芯片拆下来焊接到第二版上后，NPU 拉高频就能正常使用了。目前我还不确定具体是哪一路电源走线带来的影响，也有可能是第一版的电源回路本身存在问题，不过能确定的是，PCB 设计会直接影响 NPU 拉高频率后的使用效果。
至于你的 zero 板具体是哪种原因导致的问题，我因为只买过一块，没法给出确定结论，但按常理来说，将 NPU 频率保持在基础的 420Mhz，使用上应该是不会有问题的。

收到谢谢，感觉的确跟pcb设计有关系，Ultra也是同样的RV1106G3仍然能够700MHz稳定运行，而Zero却不行