USB hard drive IO error occurs when using mipi camera and h264 encoding function on cm4

[ss8688]

Describe the bug

I encounter random usb hard disk IO errors whenever I use the mipi rpi camera and spyglass(https://github.com/mainsail-crew/spyglass) whitch dependents on python3-picamera2.Turning off webrtc(h264 encode) can alleviate some of the issues.When H264 encoding is not turned off, very few read and write operations cause error. For example, when running dmesg, this error only occurs when a large number of reads and writes occur after H264 encoding is turned off.The error completely disappear after unplugging the camera or turning off the spyglass.I have ruled out the power supply issue because my CM4 expansion board does not have a 1.2A limit and I have a 5v10A psu

Device (s)

Raspberry Pi CM4

System

shiqi@voron0:~ $ raspinfo | pastebinit
Unit pulseaudio.service could not be found.
Unit pulseaudio.socket could not be found.
https://pastebin.com/R8AsWM3k
shiqi@voron0:~ $ cat /etc/rpi-issue
Raspberry Pi reference 2025-12-04
Generated using pi-gen, https://github.com/RPi-Distro/pi-gen, 4997bf4e4e49bc3305eb182a4a08bd023529da04, stage4
shiqi@voron0:~ $ vcgencmd version
Aug 20 2025 17:02:31
Copyright (c) 2012 Broadcom
version cd866525580337c0aee4b25880e1f5f9f674fb24 (clean) (release) (start)
shiqi@voron0:~ $ uname -a
Linux voron0 6.12.62+rpt-rpi-v8 #1 SMP PREEMPT Debian 1:6.12.62-1+rpt1 (2025-12-18) aarch64 GNU/Linux

Logs

Additional context

cat /boot/firmware/config.txt
# For more options and information see
# http://rptl.io/configtxt
# Some settings may impact device functionality. See link above for details

# Uncomment some or all of these to enable the optional hardware interfaces
#dtparam=i2c_arm=on
#dtparam=i2s=on
#dtparam=spi=on

# Enable audio (loads snd_bcm2835)
dtparam=audio=on

# Additional overlays and parameters are documented
# /boot/firmware/overlays/README

# Automatically load overlays for detected cameras
camera_auto_detect=1

# Automatically load overlays for detected DSI displays
display_auto_detect=1

# Automatically load initramfs files, if found
auto_initramfs=1

# Enable DRM VC4 V3D driver
dtoverlay=vc4-kms-v3d
max_framebuffers=2

# Don't have the firmware create an initial video= setting in cmdline.txt.
# Use the kernel's default instead.
disable_fw_kms_setup=1

# Run in 64-bit mode
arm_64bit=1

# Disable compensation for displays with overscan
disable_overscan=1

# Run as fast as firmware / board allows
arm_boost=1

[cm4]
# Enable host mode on the 2711 built-in XHCI USB controller.
# This line should be removed if the legacy DWC2 controller is required
# (e.g. for USB device mode) or if USB support is not required.
otg_mode=1

#dtparam=spi=on
#dtoverlay=audremap
#dtoverlay=spi-gpio40-45

dtoverlay=cm-swap-i2c10
dtparam=cam1_reg
dtoverlay=imx219

dtoverlay=gpio-fan,gpiopin=18,temp=55000

[cm5]
dtoverlay=dwc2,dr_mode=host

[all]
enable_uart=1
dtoverlay=disable-wifi
dtoverlay=disable-bt
shiqi@voron0:~ $