Problem setting up the bulk configuration using Jetson nano and M350 #229
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Thanks for your feedback ! I've achieved to make the service The /dev/usb-ffs/ folder is created but I cannot see the usb device using My nv-l4-usb-device-mode-start.sh file: #!/bin/bash
# Copyright (c) 2017-2020, NVIDIA CORPORATION. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of NVIDIA CORPORATION nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
set -ex
# Ensure the script runs as root
if [ "$(id -u)" -ne 0 ]; then
echo "This script must be run as root"
exit 1
fi
# Load required modules
sudo modprobe configfs
sudo modprobe libcomposite
sudo modprobe usb_f_fs
# Mount configfs if not already mounted
if ! mountpoint -q /sys/kernel/config; then
sudo mount -t configfs none /sys/kernel/config
fi
script_dir="$(cd "$(dirname "$0")" && pwd)"
. "${script_dir}/nv-l4t-usb-device-mode-config.sh"
# Wait for any modules to load and initialize
for attempt in $(seq 60); do
udc_dev_t210=700d0000.xudc
if [ -e "/sys/class/udc/${udc_dev_t210}" ]; then
udc_dev="${udc_dev_t210}"
break
fi
udc_dev_t186=3550000.usb
if [ -e "/sys/class/udc/${udc_dev_t186}" ]; then
udc_dev="${udc_dev_t186}"
break
fi
sleep 1
done
if [ "${udc_dev}" == "" ]; then
echo No known UDC device found
exit 1
fi
macs_file="${script_dir}/mac-addresses"
if [ -f "${macs_file}" ]; then
. "${macs_file}"
else
# Generate unique data
if [ -f /proc/device-tree/serial-number ]; then
random="$(md5sum /proc/device-tree/serial-number|cut -c1-12)"
else
random="$(echo "no-serial"|md5sum|cut -c1-12)"
fi
# Extract 6 bytes
b1="$(echo "${random}"|cut -c1-2)"
b2="$(echo "${random}"|cut -c3-4)"
b3="$(echo "${random}"|cut -c5-6)"
b4="$(echo "${random}"|cut -c7-8)"
b5="$(echo "${random}"|cut -c9-10)"
b6="$(echo "${random}"|cut -c11-12)"
# Clear broadcast/multicast, set locally administered bits
b1="$(printf "%02x" "$(("0x${b1}" & 0xfe | 0x02))")"
# Set 4 LSBs to unique value per interface
b6_rndis_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x00))")"
b6_rndis_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x01))")"
b6_ecm_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x02))")"
b6_ecm_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x03))")"
# Construct complete MAC per interface
mac_rndis_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_h}"
mac_rndis_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_d}"
mac_ecm_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_h}"
mac_ecm_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_d}"
# Save values for next boot
echo "mac_rndis_h=${mac_rndis_h}" > "${macs_file}"
echo "mac_rndis_d=${mac_rndis_d}" >> "${macs_file}"
echo "mac_ecm_h=${mac_ecm_h}" >> "${macs_file}"
echo "mac_ecm_d=${mac_ecm_d}" >> "${macs_file}"
fi
mkdir -p /sys/kernel/config/usb_gadget/l4t
cd /sys/kernel/config/usb_gadget/l4t
# If this script is modified outside NVIDIA, the idVendor and idProduct values
# MUST be replaced with appropriate vendor-specific values.
echo 0x0955 > idVendor
echo 0x7020 > idProduct
# BCD value. Each nibble should be 0..9. 0x1234 represents version 12.3.4.
echo 0x0002 > bcdDevice
# Informs Windows that this device is a composite device, i.e. it implements
# multiple separate protocols/devices.
echo 0xEF > bDeviceClass
echo 0x02 > bDeviceSubClass
echo 0x01 > bDeviceProtocol
mkdir -p strings/0x409
if [ -f /proc/device-tree/serial-number ]; then
serialnumber="$(cat /proc/device-tree/serial-number|tr -d '\000')"
else
serialnumber=no-serial
fi
echo "${serialnumber}" > strings/0x409/serialnumber
# If this script is modified outside NVIDIA, the manufacturer and product values
# MUST be replaced with appropriate vendor-specific values.
echo "NVIDIA" > strings/0x409/manufacturer
echo "Linux for Tegra" > strings/0x409/product
cfg=configs/c.1
mkdir -p "${cfg}"
cfg_str=""
# Note: RNDIS must be the first function in the configuration, or Windows'
# RNDIS support will not operate correctly.
if [ ${enable_rndis} -eq 1 ]; then
cfg_str="${cfg_str}+RNDIS"
func=functions/rndis.usb0
mkdir -p "${func}"
echo "${mac_rndis_h}" > "${func}/host_addr"
echo "${mac_rndis_d}" > "${func}/dev_addr"
ln -sf "${func}" "${cfg}"
# Informs Windows that this device is compatible with the built-in RNDIS
# driver. This allows automatic driver installation without any need for
# a .inf file or manual driver selection.
echo 1 > os_desc/use
echo 0xcd > os_desc/b_vendor_code
echo MSFT100 > os_desc/qw_sign
echo RNDIS > "${func}/os_desc/interface.rndis/compatible_id"
echo 5162001 > "${func}/os_desc/interface.rndis/sub_compatible_id"
ln -sf "${cfg}" os_desc
fi
# If two USB configs are created, and the second contains RNDIS and ACM, then
# Windows will ignore at the ACM function in that config. Consequently, this
# script creates only a single USB config.
if [ ${enable_acm} -eq 1 ]; then
cfg_str="${cfg_str}+ACM"
func=functions/acm.GS0
mkdir -p "${func}"
ln -sf "${func}" "${cfg}"
fi
# Copy system version information into the exposed filesystem image,
# so that any system that's attached to the USB port can identify this device.
# Do this even if $enable_ums!=1, since $fs_img is locally mounted too.
mntpoint="/mnt/l4t-devmode-$$"
rm -rf "${mntpoint}"
mkdir -p "${mntpoint}"
mount -o loop "${fs_img}" "${mntpoint}"
rm -rf "${mntpoint}/version"
mkdir -p "${mntpoint}/version"
if [ -f /etc/nv_tegra_release ]; then
cp /etc/nv_tegra_release "${mntpoint}/version"
fi
if dpkg -s nvidia-l4t-core > /dev/null 2>&1; then
dpkg -s nvidia-l4t-core > "${mntpoint}/version/nvidia-l4t-core.dpkg-s.txt"
fi
cp -r /proc/device-tree/chosen/plugin-manager "${mntpoint}/version/plugin-manager"
umount "${mntpoint}"
rm -rf "${mntpoint}"
if [ ${enable_ums} -eq 1 ]; then
cfg_str="${cfg_str}+UMS"
func=functions/mass_storage.0
mkdir -p "${func}"
ln -sf "${func}" "${cfg}"
# Prevent users from corrupting the disk image; make it read-only
echo 1 > "${func}/lun.0/ro"
echo "${fs_img}" > "${func}/lun.0/file"
fi
if [ ${enable_ecm} -eq 1 ]; then
cfg_str="${cfg_str}+${ecm_ncm_name}"
func=functions/${ecm_ncm}.usb0
mkdir -p "${func}"
echo "${mac_ecm_h}" > "${func}/host_addr"
echo "${mac_ecm_d}" > "${func}/dev_addr"
ln -sf "${func}" "${cfg}"
fi
enable_bulk=1
if [ ${enable_bulk} -eq 1 ]; then
mkdir -p /dev/usb-ffs
cfg_str="${cfg_str}+BULK1"
mkdir -p /dev/usb-ffs/bulk1
func=functions/ffs.bulk1
mkdir -p "${func}"
ln -sf "${func}" "${cfg}"
mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk1 /dev/usb-ffs/bulk1
/home/my_user/Desktop/startup_bulk/startup_bulk /dev/usb-ffs/bulk1 &
sleep 3
cfg_str="${cfg_str}+BULK2"
mkdir -p /dev/usb-ffs/bulk2
func=functions/ffs.bulk2
mkdir -p "${func}"
ln -sf "${func}" "${cfg}"
mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk2 /dev/usb-ffs/bulk2
/home/my_user/Desktop/startup_bulk/startup_bulk /dev/usb-ffs/bulk2 &
sleep 3
fi
mkdir -p "${cfg}/strings/0x409"
# :1 in the variable expansion strips the first character from the value. This
# removes the unwanted leading + sign. This simplifies the logic to construct
# $cfg_str above; it can always add a leading delimiter rather than only doing
# so unless the string is previously empty.
echo "$(echo "$cfg_str" | cut -c2-)" > "${cfg}/strings/0x409/configuration"
# Create and configure the network bridge before setting the UDC device. This
# ensures that no matter how quickly udev events (which run -runtime-start.sh)
# are triggered after setting the UDC device below, the bridge device is
# guaranteed to exist, so -runtime-start.sh is guaranteed to be able to
# configure it.
#
# Set the device to "down" initially; if/when -runtime-start.sh runs in response
# to cable presence, the interface will be set to "up".
/sbin/brctl addbr l4tbr0
/sbin/ifconfig l4tbr0 down
echo "${udc_dev}" > UDC
# Ethernet devices require additional configuration. This must happen after the
# UDC device is assigned, since that triggers the creation of the Tegra-side
# Ethernet interfaces.
#
# This script always assigns any-and-all Ethernet devices to an Ethernet
# bridge, and assigns the static IP to that bridge. This allows the script to
# more easily handle the potentially variable set of Ethernet devices.
#
# If your custom use-case requires separate IP addresses per interface, or
# only ever has one interface active, you may modify this script to skip
# bridge creation, and assign IP address(es) directly to the interface(s).
if [ ${enable_rndis} -eq 1 ]; then
/sbin/brctl addif l4tbr0 "$(cat functions/rndis.usb0/ifname)"
/sbin/ifconfig "$(cat functions/rndis.usb0/ifname)" up
fi
if [ ${enable_ecm} -eq 1 ]; then
/sbin/brctl addif l4tbr0 "$(cat functions/${ecm_ncm}.usb0/ifname)"
/sbin/ifconfig "$(cat functions/${ecm_ncm}.usb0/ifname)" up
fi
cd - # Out of /sys/kernel/config/usb_gadget
# Create a local disk device that exposes the same filesystem image that's
# exported over USB. This will allow local users to see the files too.
/sbin/losetup -f -r "${fs_img}"
exit 0
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, But what you suggested is half way done in the file already. Besides, when i run the script manually, i have an error : This what the l4t-usb-device-mode-start.sh looks like: |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, I don't have any file
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Thanks for the support ! Indeed, nv-l4t-usb-device-mode.service is active when removing the cp command. But notihng appears using lsusb. However, I can see changes with With usb connected : Using psdk_wrapper ros2, I can start the service start_percepetion, but I dont get anything in the camera stream topic. I don't think that the perception is really up. |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, I already configured the dji_sdk_config.h, but I have some updates. Now when I run the sample code from PSDK, I can go deeper into camera stream functions: But then, nothing appear, I don't get anything else. I tried diffrent options and none of them output an image. Does it implies that usb bulk is configured properly ? |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Yes everything is installed correctly. |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, This is the only modification I have. |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Thanks for the feedback. I am already using a TypeC to A cable and an OTG cable. Is it normal that I cannot see any ports using lsusb ? |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Thanks for your help. This is what I get when I run
Do you see anything that prevents me from getting the perception, or fpv stream ? |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
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Hello, Do you have another idea where to look ? |
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Agent comment from Leon in Zendesk ticket #123724: °°° |
Hello,
I am trying to get the video feedback from my M350 dji drone using the e-port. I've followed the dji documentation without success. I am only able to get the telemetry using the serial port. I tried to set up the bulk port using the 2. Enable Jetson Nano's USB bulk function from the dji documentation and the README from the startup_bulk script. I did change the path
/home/dji/Desktop/startup_bulk/startup_bulk /dev/usb-ffs/bulk1 &froml4-usb-device-mode-start.shandl4-usb-device-mode.shwith my user.When I run the command after reboot:
ps -aux | grep startup_bulkI only get the following output:
my_user 12171 0.0 0.0 8944 2052 pts/6 S+ 09:45 0:00 grep startup_bulkI also tried to add changes made by another user facing the same issue but with another drone : #179, but nothing has changed.
Thank you for your assistance.
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