View source for Talk:SCINI: Submersible Capable of under Ice Navigation and Imaging

hehe...

cool to see you where :)

Drop Elphel's flag somewhere ;)

== troubles with a 353 ==

I swapped in the 12v DC-DC converter and the power supply side
of things seems to be working fine: yellow ethernet light comes on. But
during boot the linux kernel crashes. See the end for the serial boot output. This was
after I tried reflashing the device...

The second issue came when I tried to reflash the camera. When it powers up
and I hold down the reset button, the bootloader does start sending out some
kind of low level ethernet packet (can see them with packet sniffer), so I
should be able to get fresh firmware in there, right? It doesn't make any
nfs queries (kernel doesn't make it that far? or is that part of the
bootloader sequence?).

I downloaded and compiled the latest (7.1.2.0) firmware, but the netboot and
flashit programs don't work as documented... first, the etraxfsboot program
is called with debug level 5 ('-d 5'), but it's max is 4, so I changed that.
flashit claims to start booting ("We're doing a flash write, this may take
up to a few minutes...") even without the camera connected, while netboot
throws errors about the "cmdline" program and stops at fsboot complaining
about parameters.

Is there a new way to flash the cameras I haven't figured out? Do I need a
different version of etraxfsboot? I'm running on an "installed" version of
the liveDVD, but I tried it straight off the liveDVD as well.
    
    ETRAX FS NAND boot loader
    =========================
    Rev 1, Jul 14 2007 19:49:44
    Boot config: 0x00040000->0x40440000, len 0x00200000, boot @ 0x40440000
    CPU revision: 0x00000020
    Bootloader main at 0x38000ce2
    Data end: 0x3800570c
    Bss: 0x38008000
    Heap: 0x38008000
    Identifying nand chip...
    maf_id: 0x00000020; dev_id: 0x000000f1
    mtd->size == 0x08000000
    scan_bbt(); mtd->size == 0x08000000
    scan_bbt() ...01; mtd->size == 0x08000000
    len == 0x00000100; and BBT_LEN_1 == 0x00000400
    scan_bbt() ...02; mtd->size == 0x08000000
    scan_bbt() ...03; mtd->size == 0x08000000
    scan_bbt() ...1; mtd->size == 0x08000000
    scan_bbt() ...2; mtd->size == 0x08000000
    scan_bbt() search_read_bbts(); mtd->size == 0x08000000
    search_read_bbts() search primary table; mtd->size == 0x08000000
    search_bbt() ...1; mtd->size == 0x08000000
    search_bbt() ...2; maxblocks: 0x00000004; mtd->size == 0x08000000
    Block: 0x000003ff
    Check, if we found a bbt for each requested chip
    Bad block table found at page0x0000ffc0, version 0x00000001
    search_read_bbts() search mirror table
    search_bbt() ...1; mtd->size == 0x08000000
    search_bbt() ...2; maxblocks: 0x00000004; mtd->size == 0x08000000
    Block: 0x000003ff
    Block: 0x000003fe
    Check, if we found a bbt for each requested chip
    Bad block table found at page0x0000ff80, version 0x00000001
    scan_bbt() ...3
    Done.
    Chip identified... 3; NAND 128MiB 3,3V 8-bit
    type: 0x00000004
    flags: 0x000000c5
    size: 0x08000000
    erasesize: 0x00020000
    oobblock: 0x00000800
    oobsize: 0x00000040
    ecctype: 0x00000002
    eccsize: 0x00000100
    Oob info:
    useecc: 0x00000002
    eccbytes: 0x00000018
    eccpos: 0x00000028 0x00000029 0x0000002a 0x0000002b 0x0000002c 0x0000002d 0x0000002e 0x0000002f 0x00000030 0x00000031 0x00000032 0x00000033 0x00000034 0x00000035 0x00000036 0x00000037 0x00000038 0x00000039 0x0000003a 0x0000003b 0x0000003c 0x0000003d 0x0000003e 0x0000003f 
    Bootload in progress...
    New block 0x00040000;len: 0x00200000;start: 0x00040000
    New block 0x00060000;len: 0x001e0000;start: 0x00060000
    New block 0x00080000;len: 0x001c0000;start: 0x00080000
    New block 0x000a0000;len: 0x001a0000;start: 0x000a0000
    New block 0x000c0000;len: 0x00180000;start: 0x000c0000
    New block 0x000e0000;len: 0x00160000;start: 0x000e0000
    New block 0x00100000;len: 0x00140000;start: 0x00100000
    New block 0x00120000;len: 0x00120000;start: 0x00120000
    New block 0x00140000;len: 0x00100000;start: 0x00140000
    New block 0x00160000;len: 0x000e0000;start: 0x00160000
    New block 0x00180000;len: 0x000c0000;start: 0x00180000
    New block 0x001a0000;len: 0x000a0000;start: 0x001a0000
    New block 0x001c0000;len: 0x00080000;start: 0x001c0000
    New block 0x001e0000;len: 0x00060000;start: 0x001e0000
    New block 0x00200000;len: 0x00040000;start: 0x00200000
    New block 0x00220000;len: 0x00020000;start: 0x00220000
    complete, status 0x00000000, loaded 0x00200000 bytes
    Data in DRAM:
    0x25f005b0 0x009cedff 0xbeef05b0
    Booting...
    Uncompressing Linux...
    Done. Now booting the kernel.
    Linux version 2.6.19 (larry@benq) (gcc version 3.2.1 Axis release R64/1.64) #4 Thu Jul 26 10:19:26 CST 2007
    Setting up paging and the MMU.
    Linux/CRISv32 port on ETRAX FS (C) 2003, 2004 Axis Communications AB
    Built 1 zonelists.  Total pages: 8160
    Kernel command line: root=/dev/mtdblock3 init=/linuxrc rootfstype=jffs2
    PID hash table entries: 256 (order: 8, 1024 bytes)
    Dentry cache hash table entries: 8192 (order: 2, 32768 bytes)
    Inode-cache hash table entries: 4096 (order: 1, 16384 bytes)
    Memory: 55656k/65536k available (1539k kernel code, 9880k reserved, 510k data, 64k init)
    Mount-cache hash table entries: 1024
    NET: Registered protocol family 16
    SCSI subsystem initialized
    NET: Registered protocol family 2
    IP route cache hash table entries: 512 (order: -2, 2048 bytes)
    TCP established hash table entries: 2048 (order: 0, 8192 bytes)
    TCP bind hash table entries: 1024 (order: -1, 4096 bytes)
    TCP: Hash tables configured (established 2048 bind 1024)
    TCP reno registered
    Check hardware configuration of Elphel 353 camera
    Elphel 10349 IO extension board is present
    fast_timer_init()
    JFFS2 version 2.2. (NAND) (C) 2001-2006 Red Hat, Inc.
    io scheduler noop registered (default)
    Serial: CRISv32 driver $Revision: 1.78 $ <6>ttyS0 at I/O 0xb0026000 (irq = 68) is a CRISv32
    RAMDISK driver initialized: 16 RAM disks of 4096K size 1024 blocksize
    PPP generic driver version 2.4.2
    ETRAX FS 10/100MBit ethernet v0.01 (c) 2003 Axis Communications AB
    eth0: changed MAC to 00:40:8C:CD:00:00
    ETRAX FS stream co-processor driver v0.01, (c) 2003 Axis Communications AB
    stream co-processor: init done.
    axisflashmap: ...
    NAND device: Manufacturer ID: 0x20, Chip ID: 0xf1 (ST Micro NAND 128MiB 3,3V 8-bit)
    NAND 128MiB 3,3V 8-bit: 0x08000000 bytes of NAND flash memory.
    axisflashmap: Set to boot from NAND flash, making NAND flash primary device.
    axisflashmap: flash read 512 bytes at 0x00040000, data: 00 b0 05 f0 25 ff ed 9c
    axisflashmap: partition table offset 10, data: ef be 84 00 ac 0e 00 00
    axisflashmap: Found a valid partition table at 0xc02339ae-0xc0233a3a.
    offset == 0x00040000, size == 0x007C0000
    offset == 0x00800000, size == 0x01800000
    offset == 0x02000000, size == 0x05000000
    offset == 0x07000000, size == 0x00C00000
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x00000000-0x08000000 : "main"
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x00000000-0x00040000 : "part0"
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x00040000-0x00800000 : "part1"
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x00800000-0x02000000 : "part2"
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x02000000-0x07000000 : "part3"
    Creating 1 MTD partitions on "NAND 128MiB 3,3V 8-bit":
    0x07000000-0x07c00000 : "part4"
    ETRAX FS GPIO driver v2.5, (c) 2003-2006 Axis Communications AB
    Elphel (R) model 353 FPGA (Xilinx (R) XC3S1200E) configuration driverElphel (R) model 353 system clocks (PLL frequency synth.) driverfpga_controlCMOS/MCP camera interrupts initialized
    Initializing DMA registers for EXTDMA3 - CMOS/MCP camera 353 driver
    Elphel (R) model 353 i2c character device driverhist: init ok
    ip_conntrack version 2.4 (512 buckets, 4096 max) - 196 bytes per conntrack
    ip_tables: (C) 2000-2006 Netfilter Core Team
    TCP cubic registered
    NET: Registered protocol family 1
    NET: Registered protocol family 17
    Bridge firewalling registered
    VFS: Mounted root (jffs2 filesystem) readonly.
    Freeing unused kernel memory: 64k freed
    exit: 4: Illegal number: X
    /linuxrc: Mounting /mnt/flash... Empty flash at 0x00377bb8 ends at 0x00378000
    done
    /sbin/rc.fsupgrade: Cannot find /usr/etc/defaultfiles/jimage
    /linuxrc: /sbin/rc.fsupgrade failed!
    /linuxrc: Starting init.
    init: starting up.
    Starting system initialization.
    
    Axis Linux, http://developer.axis.com/
    Copyright (C) 2000-2007 Axis Communications AB
    
    Elphel (R) Model 353 Camera release 7.1.0.9
    
    �[32;01m*�[0m Mounting filesystems... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Initializing /var... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Determining MAC address... 
    
    �[A�[4C�[32;01m+�[0m using saved MAC address: 00:0E:64:09:00:13
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Initializing random number generator... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Setting hostname... 
    
    �[A�[4C�[32;01m+�[0m hostname: "Elphel353"
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Initializing volatile resolver configuration... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Starting ipsetd... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Setting FPGA master clock to 125 MHz... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Programming FPGA with /etc/x353.bit... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    CR[13]=1 (was 0) �[32;01m*�[0m Loaded FPGA rev... 
    
    �[2A�[72C�[34;01m[ �[32;01m3533010�[34;01m ]�[0m
    �[32;01m*�[0m Adjusting DDR SDRAM clock phase... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Writing Huffman tables from /etc/huffman.dat... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Writing default JPEG header from /etc/header.jpeg... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    writing precalculated gamma tables from /etc/gamma.dat
    �[32;01m*�[0m Turn on xtall output (12MHz) to FPGA... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Looking for sensor FPGA... 
    
    �[2A�[71C�[34;01m[ �[31;01mnone�[34;01m ]�[0m
    1970-01-01 00:00:15: (mod_fastcgi.c.1289) --- fastcgi spawning local 
        proc: /bin/php-fcgi 
        port: 0 
        socket /tmp/php.socket 
        min-procs: 1 
        max-procs: 1 
    1970-01-01 00:00:15: (mod_fastcgi.c.1314) --- fastcgi spawning 
        port: 0 
        socket /tmp/php.socket 
        current: 0 / 1 
    �[32;01m*�[0m Everything in /etc/init.d/fpga is done... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Configure broadcast ping... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    System initialization is done.
    /bin/sh: can't access tty; job control turned off
    # 1970-01-01 00:00:15: (log.c.75) server started 
    New runlevel: 3
    �[32;01m*�[0m Starting respawn daemon... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Starting system and kernel logger... 
    Jan  1 00:00:15 Elphel353 syslogd 1.4.1: restart.
    �[A�[4C�[32;01m+�[0m system logger started
    
    �[A�[4C�[32;01m+�[0m kernel logger started
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Bringing lo up... 
    
    �[2A�[72C�[34;01m[ �[32;01mok�[34;01m ]�[0m
    �[32;01m*�[0m Bringing eth0 up... 
    eth0: changed MAC to 00:0E:64:09:00:13
    
    �[A�[4C�[32;01m+�[0m hardware address: 00:0E:64:09:00:13
    
    �[A�[4C�[32;01m+�[0m media: auto
    
    �[A�[4C�[32;01m+�[0m eth0 going up
    eth0: changed MAC to 00:0E:64:09:00:13
    
    �[A�[4C�[32;01m+�[0m IPv4 on eth0
    
    �[A�[4C�[32;01m+�[0m boot protocol: none
    Unable to handle kernel NULL pointer dereference at virtual address 00000000
    Oops: 0002
    CPU: 0
    ERP: c00e8ee2 SRP: c00164a8  CCS: 0a00a008 USP: afa8d588 MOF: 00000000
    r0: c0b15000  r1: c0b15000   r2: c0b15260  r3: c0b15d79
    r4: c01c9568  r5: c00164a8   r6: c01c956c  r7: c0012b74
    r8: 00000000  r9: 00200200  r10: c0b15000 r11: c0b15cd1
    r12: c0b15ccd r13: c3c6dbdc oR10: c0b15000 acr: 00000000
    sp: c3c6db44
        Data MMU Cause: 000002d4
    Instruction MMU Cause: 000180ff
    Process ip (pid: 699, stackpage=c0baed80)
    
    Stack from afa8d588:
        Failing address 0xafa8d588
    
    Call Trace: Failing address 0xafa8d588
    
    Stack from c3c6da64:
        c0004988 c3c6db44 c000eaae c3c6db70 00000000 00000000 c3c6db44 c0005672 
        00000000 c0baed80 c3c6db44 00000002 00000000 c0b15000 c0208200 00000000 
        c0b15000 c0b15000 c0b15260 c0b15d79 c01c9568 c00164a8 c01c956c c0012b74 
    Call Trace: [<c000eaae>] [<c0005672>] [<c00164a8>] [<c0012b74>] [<c00164a8>] [<c0012b74>] [<c00164a8>] 
        [<c00e8ee2>] [<c00e8ec4>] [<c0012bf2>] [<c0004bb4>] [<c000635c>] [<c002d150>] [<c00cb152>] [<c002d422>] 
        [<c002d50c>] [<c002d566>] [<c0034aa8>] [<c000556c>] [<c0034aa8>] [<c000556c>] [<c000a1ba>] [<c0032ace>] 
        [<c0004bb4>] [<c00061b8>] [<c0035904>] [<c003653e>] [<c00317be>] [<c00639e6>] [<c00cb4a1>] [<c0064d3a>] 
        [<c00436b4>] [<c0042730>] [<d7600009>] [<c004278a>] [<c004348c>] [<c004278a>] [<c0005926>] [<c00074c8>] 
    Code: 60 36 3f 3c 79 0d 63 fa 06 20 60 16 (7f) 8a 3f 1c e5 0c 41 b2 bf be 9e 03 
    Kernel panic - not syncing: Aiee, killing interrupt handler!

== How I reflash - Andrey ==

 andrey@pundit:~/cvs_sync/elphel353-7.1/elphel353$ sudo su
 Password:
 root@pundit:/home/andrey/cvs_sync/elphel353-7.1/elphel353# . ./init_env
 Prepending "/home/andrey/cvs_sync/elphel353-7.1/elphel353/tools/build/bin" to PATH.
 Prepending "/usr/local/cris/bin" to PATH.
 root@pundit:/home/andrey/cvs_sync/elphel353-7.1/elphel353# ./ktest -d eth0 mac=000E64080000\ ip=192.168.0.99\ nfs=192.168.0.69:/nfs/elphel353-2.10\ cmd=update
 Using internal boot loader: INTERNAL_NW - Network boot (default).
 Using internal boot loader: INTERNAL2 - Level2 boot.
 Starting boot...
 Connected. Booting device with random id 6d77b50c.
 Device ID = 6d77b50c
 This bootloader compiled by andrey Wed Oct 10 14:15:23 MDT 2007.
 Checksum of bootloader is 0x0050c6d4
 Waiting for load info.
 Got load info.
 SET_REGISTER
 ...
 PACKET_INFO
 0xc0004000
 0x00e34008
 JUMP
 Exiting with code 0
 root@pundit

"cmd=update" only if the current version (boot block) is base on Axis SDK 2.10 (Elphel v. 7.1.x - not 7.0.x), else "cmd=all" and specify the real MAC address

== Did it work before replacing DC-DC converter ==

Did you test the camera before switching to 12V? If yes - maybe just look how good is 3.3V made by the converter (better with oscilloscope, not just multimeter)?--[[User:Andrey.filippov|Andrey.filippov]] 19:00, 18 October 2007 (CDT)