kkishore9891
commented
4 months ago I have some updates:
I made some new changes to the nv-l4t-usb-device-mode-start.sh file:
#!/bin/bash
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
if [ -d /proc/device-tree/chosen/plugin-manager ]; then
cp -r /proc/device-tree/chosen/plugin-manager "${mntpoint}/version/plugin-manager"
fi
umount "${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}" "${cfg}"
mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk1 /dev/usb-ffs/bulk1
/home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk1 &
sleep 3
cfg_str="${cfg_str}+BULK2"
mkdir -p /dev/usb-ffs/bulk2
func=functions/ffs.bulk2
mkdir -p "${func}"
ln -sf "${func}" "${cfg}"
mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk2 /dev/usb-ffs/bulk2
/home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk2 &
sleep 3
fi
mkdir -p "${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
# $cfg_str above; it can always add a leading delimiter rather than only doing
# so unless the string is previously empty.
echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration"
# Create and configure the network bridge before setting the UDC device. This
# ensures that no matter how quickly udev events (which run -runtime-start.sh)
# are triggered after setting the UDC device below, the bridge device is
# guaranteed to exist, so -runtime-start.sh is guaranteed to be able to
# configure it.
#
# Set the device to "down" initially; if/when -runtime-start.sh runs in response
# to cable presence, the interface will be set to "up".
/sbin/brctl addbr l4tbr0
/sbin/ifconfig l4tbr0 down
echo "${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
And now when I type ps -aux | grep startup_bulk I see the following:
root 674 0.0 0.0 2276 800 ? S 16:10 0:00 /home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk1
root 1778 0.0 0.0 2276 804 ? S 16:10 0:00 /home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk2
nvidia 13041 0.0 0.0 11820 2068 pts/2 S+ 16:32 0:00 grep --color=auto startup_bulkBut still I get some error when trying to run the psdk with DJI_USE_UART_AND_USB_BULK_DEVICE:
nvidia@nvidia:~/Payload-SDK/build/bin$ sudo ./dji_sdk_demo_linux_cxx
[sudo] password for nvidia:
'Logs/latest.log' -> 'DJI_0002_20240628_16-34-03.log'
[0.009][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.8.0-beta.0-build.1929
[1.160][adapter]-[Info]-[DjiAccessAdapter_Init:228) Identify aircraft series is Matrice 3D Series
[1.160][adapter]-[Info]-[DjiAccessAdapter_Init:261) Identify mount position type is Extension Port Type
[1.167][adapter]-[Info]-[DjiAccessAdapter_Init:362) Identity uart0 baudrate is 921600 bps
[3.241][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
[4.241][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
[5.241][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
[6.241][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
[7.241][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
[8.241][adapter]-[Error]-[DjiAccessAdapter_Init:373) Payload negotiate error, returnCode = 225
[8.241][adapter]-[Error]-[DjiAccessAdapter_Init:379) Payload negotiate error, returnCode = 225
[8.241][core]-[Error]-[DjiCore_Init:121) Access adapter init error, stat:225
terminate called after throwing an instance of 'std::runtime_error'
what(): Core init error.
Aborted
dji-dev
atharvapaladin
Hello, I am working on the latest Matrice M3TD drone with dock2 right now and we are trying to establish PSDK connection with the M3TD using Jetson Orin Nano. We are using the PSDK version 3.8. Initially I tried to use DJI_USE_UART_AND_NETWORK_DEVICE and I got an error suggesting that I should use DJI_USE_UART_AND_USB_BULK_DEVICE as DJI_USE_UART_AND_NETWORK_DEVICE is not supported in M3TD. I tried to follow this guide for Jetson Nano. But while doing so I am facing some issues as I couldn't see the devices /dev/usb-ffs/bulk1 and /dev/usb-ffs/bulk2. I searched the internet and found another person facing the same issue. That person tried connecting the E-port's USB-C output to the USB A port instead of the USB-C port and he overcame that issue. But I tried the same and it doesn't work.
here is my nv-l4t-usb-device-mode-start.sh code:
I have modified the path of startup_bulk and I have modified the line with
udc_dev_t186=3550000.usbin line 41 since that threw an error.But this still doesn't work. I need some support to fix this.