Camera should be connected to J10 only, not J13.
I never saw the rotating issue to happen on the MX31ADS.
In your log message that are several I2C transfer error. Maybe it is because your kernel is configured for a certain camera module and you are using other.
By default, rel6 selects OV2640 driver. Please make sure you are using this model or change it in the kernel config.
Regards,
Fabio Estevam