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I am with 21.0.016 but my cam doesn't working only the barcode reader,and this is the reason i ask because i need to update my phone... i bought this phone because of the camera and now what .....
Man i've done all of this 3 times reinstalled the firmware same problem it is a bug and it is not only me ... and not only the camera shows problems (you can read other post - the navigation gives problems,calendar,bluetooth,sms).I ask because need my camera and i gave my money for that camera and now what ,if it was happaned to you ,you too would flood the forum with same posts.
Personally I would take my phone to a nokia care point and tell them to fix it under warranty. They can completely flash and reset the phone which does a much better job than the NSU.
It's obviously a very odd issue if it only affects some users of v21 and not others.
As I said earlier keep checking other sites for info about unreleased firmware.