Greetings,
I am a Computer Science student at Michigan State University
working on my senior project (NASA rover navigation system
improvement). This project involves using a SICK LIDAR unit
with a TS-Linux-equipped Technologic SBC (TS-5500).
(See www.embeddedx86.com for SBC & TS-Linux info)
As I understand it, TS-Linux is a RH derivative.
The LIDAR unit plugs into a RS422 -> USB adapter. The USB
cable from the adapter is then plugged into the SBC. Students
from previous semesters have been able to get the LIDAR unit
working under stock TS-Linux 2.4.23 with the use of the ftdi_sio.so
kernel module (which does NOT ship with TS-Linux).
All of the work from these students was recently destroyed
(including backups). I have been trying to get things working
once again under TS-Linux with no success. Basically, everything
works normally under TS-Linux except communication with the
LIDAR unit. I have verified that the LIDAR unit works on a Windows
machine, which should rule out hardware issues with both the LIDAR
unit and the RS422 -> USB adapter. I am able to mount & read/write
to a USB flash drive under TS-Linux on the SBC, so that should rule
out "standard" USB configuration issues and also hardware issues
with the USB port on the SBC. (I also tried another identical SBC and
got the same results).
Any attempt to access /dev/usb/tts/0 results in a kernel page
fault and results in an unstable system thereafter. /dev/ttyUSB0
never appears after a load of ftdi_sio.so as would be expected.
If I add it with mknod c 188 0, it behaves just the same as
/dev/usb/tts/0.
I have tried compiling the ftdi_sio.so module from the 2.4.23 Linux
kernel source (from www.kernel.org) with the TS-Linux patch applied.
The module loads without requiring a -f with insmod, but still crashes
nonetheless. I have tried countless other variations of ftdi_sio.so
to no avail. (same exact results) The students from previous
semesters were able to get this working with a version of ftdi_sio.o
that had to be forced to load (due to version mismatch)... but no one
seems to be able to remember which version it was.
I've attached a log of a session on the machine where the
system was booted without the RS422 -> USB adapter plugged
into the SBC. I show dmesg & module info, plug the adapter in, show
the same info, and then show the page fault.
This TS-Linux install was done via the instructions located at the URL:
http://www.embeddedx86.com/linux/html_docs/new_cf_method.html
Here is the USB device and driver data from the proc fs.
/dev/bus/usb/devices:
T: Bus=01 Lev=00 Prnt=00 Port=00 Cnt=00 Dev#= 1 Spd=12 MxCh= 2
B: Alloc= 0/900 us ( 0%), #Int= 0, #Iso= 0
D: Ver= 1.10 Cls=09(hub ) Sub=00 Prot=00 MxPS= 8 #Cfgs= 1
P: Vendor=0000 ProdID=0000 Rev= 0.00
S: Product=USB OHCI Root Hub
S: SerialNumber=c4819000
C:* #Ifs= 1 Cfg#= 1 Atr=40 MxPwr= 0mA
I: If#= 0 Alt= 0 #EPs= 1 Cls=09(hub ) Sub=00 Prot=00 Driver=hub
E: Ad=81(I) Atr=03(Int.) MxPS= 2 Ivl=255ms
T: Bus=01 Lev=01 Prnt=01 Port=01 Cnt=01 Dev#= 7 Spd=12 MxCh= 0
D: Ver= 1.10 Cls=00(>ifc ) Sub=00 Prot=00 MxPS= 8 #Cfgs= 1
P: Vendor=0403 ProdID=6001 Rev= 4.00
S: Manufacturer=FTDI
S: Product=USB TO RS-422/485 ADAPTER
S: SerialNumber=FTC95UFS
C:* #Ifs= 1 Cfg#= 1 Atr=a0 MxPwr= 44mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=ff Prot=ff Driver=serial
E: Ad=81(I) Atr=02(Bulk) MxPS= 64 Ivl=0ms
E: Ad=02(O) Atr=02(Bulk) MxPS= 64 Ivl=0ms
/dev/bus/usb/drivers:
usbdevfs
hub
usb-storage
serial
I compiled in debugging into ftdi_sio.o recently. While I don't
have the exact output here with me, it basically sets the baud
rate to 9600, states the divisor it's using, and then the segfault
happens. (After it states the baud/divisor, there was no additional
output)
I'm planning on doing more debugging, but I figured it would be
in my best interest to post to this group to see if anyone has
suggestions for how best to troubleshoot/remedy this problem.
Thank you!
Sincerely,
Mike M.
Attached Log:
Script started on Mon Mar 13 02:15:24 2000
root]#uname -a
Linux miniepc.embeddedx86.com 2.4.23-2.5-ts #2 Tue Sep 21 03:41:41 MST
2004 i486 unknown
root]#lsmod
Module Size Used by Tainted: PF
ftdi_sio 20280 0 (unused)
a2d_driver 2400 0 (unused)
usbserial 16800 0 [ftdi_sio]
orinoco_cs 4424 1
orinoco 31072 0 [orinoco_cs]
hermes 5248 0 [orinoco_cs orinoco]
ds 6496 1 [orinoco_cs]
yenta_socket 9760 1
pcmcia_core 37408 0 [orinoco_cs ds yenta_socket]
usb-ohci 16416 0 (unused)
usbcore 56192 1 [ftdi_sio usbserial usb-ohci]
root]#
root]#
root]#ls -lR /dev/usb
/dev/usb:
root]#dmesg
Linux version 2.4.23-2.5-ts (gcc version 2.95.4 20011002
(Debian prerelease)) #2 Tue Sep 21 03:41:41 MST 2004
BIOS-provided physical RAM map:
BIOS-e820: 0000000000000000 - 000000000009e400 (usable)
BIOS-e820: 000000000009e400 - 00000000000a0000 (reserved)
BIOS-e820: 00000000000e0000 - 0000000000100000 (reserved)
BIOS-e820: 0000000000100000 - 0000000004000000 (usable)
BIOS-e820: 00000000fff00000 - 0000000100000000 (reserved)
64MB LOWMEM available.
On node 0 totalpages: 16384
zone(0): 4096 pages.
zone(1): 12288 pages.
zone(2): 0 pages.
DMI not present.
Kernel command line: root=/dev/hda2 reboot=bios console=tty1,115200
Initializing CPU#0
Console: colour VGA+ 80x25
Calibrating delay loop... 65.74 BogoMIPS
Memory: 62600k/65536k available (1175k kernel code, 2544k reserved,
304k data, 76k init, 0k highmem)
Checking if this processor honours the WP bit even in supervisor
mode... Ok.
Dentry cache hash table entries: 8192 (order: 4, 65536 bytes)
Inode cache hash table entries: 4096 (order: 3, 32768 bytes)
Mount cache hash table entries: 512 (order: 0, 4096 bytes)
Buffer cache hash table entries: 4096 (order: 2, 16384 bytes)
Page-cache hash table entries: 16384 (order: 4, 65536 bytes)
CPU: After generic, caps: 00000001 00000000 00000000 00000000
CPU: Common caps: 00000001 00000000 00000000 00000000
CPU: AMD 486 DX/4-WB stepping 04
Checking 'hlt' instruction... OK.
POSIX conformance testing by UNIFIX
PCI: Using configuration type 1
PCI: Probing PCI hardware
PCI: Probing PCI hardware (bus 00)
Linux NET4.0 for Linux 2.4
Based upon Swansea University Computer Society NET3.039
Initializing RT netlink socket
Starting kswapd
Journalled Block Device driver loaded
devfs: v1.12c (20020818) Richard Gooch
devfs: boot_options: 0x1
Installing knfsd (copyright (C) 1996
pty: 256 Unix98 ptys configured
ts5600.o: determined board is not TS5600
Serial driver version 5.05c-TS (2001-07-08) with MANY_PORTS SHARE_IRQ
SERIAL_PCI enabled
ttyS00 at 0x03f8 (irq = 4) is a 16550A
ttyS01 at 0x02f8 (irq = 3) is a 16550A
ttyS02 at 0x03e8 (irq = 4) is a 16550A
cs89x0:cs89x0_probe(0x0)
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0x1
eth0: incorrect signature 0x6000
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
PP_addr=0xf0f
eth0: incorrect signature 0xf0f
cs89x0: no cs8900 or cs8920 detected. Be sure to disable PnP with
SETUP
RAMDISK driver initialized: 16 RAM disks of 4096K size 1024 blocksize
loop: loaded (max 8 devices)
dmfe: Davicom DM9xxx net driver, version 1.36.4 (2002-01-17)
eth0: Davicom DM9102 at pci00:0d.0, 00:d0:69:09:22:90, irq 11.
Uniform Multi-Platform E-IDE driver Revision: 7.00beta4-2.4
ide: Assuming 33MHz system bus speed for PIO modes; override with
idebus=xx
hda: SanDisk SDCFB-128, CFA DISK drive
ide2: ports already in use, skipping probe
ide0 at 0x1f0-0x1f7,0x3f6 on irq 14
hda: attached ide-disk driver.
hda: task_no_data_intr: status=0x51 { DriveReady SeekComplete Error }
hda: task_no_data_intr: error=0x04 { DriveStatusError }
hda: 250880 sectors (128 MB) w/1KiB Cache, CHS=980/8/32
Partition check:
/dev/ide/host0/bus0/target0/lun0: p1 p2
hd: unable to get major 3 for hard disk
NET4: Linux TCP/IP 1.0 for NET4.0
IP Protocols: ICMP, UDP, TCP
IP: routing cache hash table of 512 buckets, 4Kbytes
TCP: Hash tables configured (established 4096 bind 4096)
NET4: Unix domain sockets 1.0/SMP for Linux NET4.0.
/dev/ide/host0/bus0/target0/lun0: p1 p2
/dev/ide/host0/bus0/target0/lun0: p1 p2
/dev/ide/host0/bus0/target0/lun0: p1 p2
/dev/ide/host0/bus0/target0/lun0: p1 p2
VFS: Mounted root (ext2 filesystem) readonly.
Mounted devfs on /dev
Freeing unused kernel memory: 76k freed
VFS: Disk change detected on device 03:00
/dev/ide/host0/bus0/target0/lun0: p1 p2
fl: Error FlInit->flInit: 60
fl: Cannot initialize M-Systems DOC 2000 OSAK
usb.c: registered new driver usbdevfs
usb.c: registered new driver hub
usb-ohci.c: USB OHCI at membase 0xc4819000, IRQ 9
usb-ohci.c: usb-00:0b.0, PCI device 1045:c861
usb.c: new USB bus registered, assigned bus number 1
hub.c: USB hub found
hub.c: 2 ports detected
Linux Kernel Card Services 3.1.22
options: [pci] [cardbus]
Intel ISA PCIC probe: not found.
PCI: Enabling device 00:0c.0 (0004 -> 0006)
Yenta IRQ list 00c0, PCI irq10
Socket status: 30000010
cs: warning: no high memory space available!
cs: unable to map card memory!
cs: unable to map card memory!
cs: unable to map card memory!
cs: unable to map card memory!
cs: unable to map card memory!
cs: unable to map card memory!
cs: IO port probe 0x0c00-0x0cff: clean.
cs: IO port probe 0x0a00-0x0aff: clean.
hermes.c: 4 Dec 2002 David Gibson <>
orinoco.c 0.13d (David Gibson <> and
others)
orinoco_cs.c 0.13d (David Gibson <> and
others)
eth1: Station identity 001f:0006:0001:0003
eth1: Looks like an Intersil firmware version 1.3.6
eth1: Ad-hoc demo mode supported
eth1: IEEE standard IBSS ad-hoc mode supported
eth1: WEP supported, 104-bit key
eth1: MAC address 00:09:5B:3A:66:9E
eth1: Station name "Prism I"
eth1: ready
eth1: index 0x01: Vcc 5.0, irq 7, io 0x0a00-0x0a3f
eth1: Error -110 setting multicast list.
eth1: Error -110 setting multicast list.
eth1: Error -110 setting multicast list.
eth1: New link status: Connected (0001)
usb.c: registered new driver serial
usbserial.c: USB Serial support registered for Generic
usbserial.c: USB Serial Driver core v1.4
a2d.o: Technologic Systems 12.8.2002 Ver 1.02
a2d.o: Module Loaded
usbserial.c: USB Serial support registered for FTDI SIO
usbserial.c: USB Serial support registered for FTDI 8U232AM Compatible
usbserial.c: USB Serial support registered for FTDI FT232BM Compatible
usbserial.c: USB Serial support registered for FTDI FT2232C Compatible
usbserial.c: USB Serial support registered for USB-UIRT Infrared
Receiver/Transmitter
usbserial.c: USB Serial support registered for Home-Electronics TIRA-1
IR Transceiver
ftdi_sio.c: v1.3.5:USB FTDI Serial Converters Driver
root]#
root]#
root]#echo "plugging in device.."
plugging in device..
root]#
root]#dmesg | tail
usbserial.c: USB Serial support registered for FTDI SIO
usbserial.c: USB Serial support registered for FTDI 8U232AM Compatible
usbserial.c: USB Serial support registered for FTDI FT232BM Compatible
usbserial.c: USB Serial support registered for FTDI FT2232C Compatible
usbserial.c: USB Serial support registered for USB-UIRT Infrared
Receiver/Transmitter
usbserial.c: USB Serial support registered for Home-Electronics TIRA-1
IR Transceiver
ftdi_sio.c: v1.3.5:USB FTDI Serial Converters Driver
hub.c: new USB device 00:0b.0-2, assigned address 2
usbserial.c: FTDI FT232BM Compatible converter detected
usbserial.c: FTDI FT232BM Compatible converter now attached to ttyUSB0
(or usb/tts/0 for devfs)
root]#ls -lR /dev/usb*
/dev/usb:
drwxr-xr-x 1 root root 0 Dec 31 1969 tts/
/dev/usb/tts:
crw------- 1 root root 188, 0 Dec 31 1969 0
root]#lsmod
Module Size Used by Tainted: PF
ftdi_sio 20280 0 (unused)
a2d_driver 2400 0 (unused)
usbserial 16800 0 [ftdi_sio]
orinoco_cs 4424 1
orinoco 31072 0 [orinoco_cs]
hermes 5248 0 [orinoco_cs orinoco]
ds 6496 1 [orinoco_cs]
yenta_socket 9760 1
pcmcia_core 37408 0 [orinoco_cs ds yenta_socket]
usb-ohci 16416 0 (unused)
usbcore 56192 1 [ftdi_sio usbserial usb-ohci]
root]#
root]#
root]#stty -a < /dev/usb/tts/0
Segmentation fault
root]#exit
Script done on Mon Mar 13 02:17:11 2000
Here is the output from the seg fault... note that if I use
ftditest, the process is "ftditest" instead of "bash."
(ftditest simply does an open() and read()..)
Unable to handle kernel paging request at virtual address 0002001c
printing eip:
c4803329
*pde = 00000000
Oops: 0000
CPU: 0
EIP: 0010:[<c4803329>] Tainted: PF
EFLAGS: 00010206
eax: 00020000 ebx: c3e1481c ecx: c11a8c00 edx: c2b67e30
esi: c2b67e30 edi: c3e14800 ebp: c273deb0 esp: c273de44
ds: 0018 es: 0018 ss: 0018
Process bash (pid: 321, stackpage=c273d000)
Stack: c484cddd c2b67e30 00000001 c10b36d8 00000246 0000000c c0260a9c
c0260c54
000001f0 c282e000 c2d2e000 c0198bb7 c282e000 00000000 c282e000
c282e000
c2c791d4 c019545f 00000000 c2d4a7b0 00000000 c2990810 c27d3158
00000000
Call Trace: [<c484cddd>] [<c0198bb7>] [<c019545f>] [<c48442ee>]
[<c0195cf4>]
[<c0139720>] [<c013a079>] [<c016a372>] [<c016ae9b>] [<c0130181>]
[<c0130097>]
[<c01303d6>] [<c0108923>]
Code: 8b 40 1c 85 c0 74 10 52 8b 40 0c ff d0 83 c4 04 c3 8d b6 00
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