ashwin

ashwin

Hello @tom,

Kindly find the outputs received shown in the images below.

UFS Provisioning is successful as shown in the attached image.

The output message is shown at the end.

Flashing CDT failed - Try 1

Flashing CDT failed - Try 2

UFS Provisioning Output

modal hello
[MODALAI] test log

[MODALAI] Executing usb_open
[MODALAI] Completed usb_open
[MODALAI] Executing sahara_run
HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0
READ64 image: 13 offset: 0x0 length: 0x40
READ64 image: 13 offset: 0x40 length: 0x310
READ64 image: 13 offset: 0x1000 length: 0x1000
READ64 image: 13 offset: 0x2000 length: 0xc48
READ64 image: 13 offset: 0x3000 length: 0x1000
READ64 image: 13 offset: 0x4000 length: 0x1000
READ64 image: 13 offset: 0x5000 length: 0x1000
READ64 image: 13 offset: 0x6000 length: 0x1000
READ64 image: 13 offset: 0x7000 length: 0x1000
READ64 image: 13 offset: 0x8000 length: 0x1000
READ64 image: 13 offset: 0x9000 length: 0x1000
READ64 image: 13 offset: 0xa000 length: 0x1000
READ64 image: 13 offset: 0xb000 length: 0x1000
READ64 image: 13 offset: 0xc000 length: 0x1000
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READ64 image: 13 offset: 0x10000 length: 0x1000
READ64 image: 13 offset: 0x11000 length: 0x1000
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READ64 image: 13 offset: 0x1e000 length: 0x1000
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READ64 image: 13 offset: 0x20000 length: 0x1000
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READ64 image: 13 offset: 0x2d000 length: 0x1000
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READ64 image: 13 offset: 0x3a000 length: 0x1000
READ64 image: 13 offset: 0x3b000 length: 0x1000
READ64 image: 13 offset: 0x3c000 length: 0x1000
READ64 image: 13 offset: 0x3d000 length: 0x1000
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READ64 image: 13 offset: 0x4d000 length: 0x1000
READ64 image: 13 offset: 0x4e000 length: 0x1000
READ64 image: 13 offset: 0x4f000 length: 0x1000
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READ64 image: 13 offset: 0x5c000 length: 0x1000
READ64 image: 13 offset: 0x5d000 length: 0x1000
READ64 image: 13 offset: 0x5e000 length: 0x1000
READ64 image: 13 offset: 0x5f000 length: 0x1000
READ64 image: 13 offset: 0x60000 length: 0x1000
READ64 image: 13 offset: 0x61000 length: 0x1000
READ64 image: 13 offset: 0x62000 length: 0x1000
READ64 image: 13 offset: 0x63000 length: 0xde0
READ64 image: 13 offset: 0x63de0 length: 0x1000
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READ64 image: 13 offset: 0x6ade0 length: 0x1000
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READ64 image: 13 offset: 0x6ede0 length: 0x1000
READ64 image: 13 offset: 0x6fde0 length: 0x3f0
READ64 image: 13 offset: 0x701d0 length: 0x1000
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READ64 image: 13 offset: 0x721d0 length: 0x1000
READ64 image: 13 offset: 0x731d0 length: 0x1000
READ64 image: 13 offset: 0x741d0 length: 0x1000
READ64 image: 13 offset: 0x751d0 length: 0x1000
READ64 image: 13 offset: 0x761d0 length: 0x1000
READ64 image: 13 offset: 0x771d0 length: 0x1000
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READ64 image: 13 offset: 0x7a1d0 length: 0x1000
READ64 image: 13 offset: 0x7b1d0 length: 0x1000
READ64 image: 13 offset: 0x7c1d0 length: 0x1000
READ64 image: 13 offset: 0x7d1d0 length: 0x1000
READ64 image: 13 offset: 0x7e1d0 length: 0x1000
READ64 image: 13 offset: 0x7f1d0 length: 0xf6c
READ64 image: 13 offset: 0x80140 length: 0x84
READ64 image: 13 offset: 0x801c4 length: 0x1000
READ64 image: 13 offset: 0x811c4 length: 0x1000
READ64 image: 13 offset: 0x821c4 length: 0x1000
READ64 image: 13 offset: 0x831c4 length: 0x1000
READ64 image: 13 offset: 0x841c4 length: 0x1000
READ64 image: 13 offset: 0x851c4 length: 0x1000
READ64 image: 13 offset: 0x861c4 length: 0x1000
READ64 image: 13 offset: 0x871c4 length: 0x1000
READ64 image: 13 offset: 0x881c4 length: 0x1000
READ64 image: 13 offset: 0x891c4 length: 0x55c
READ64 image: 13 offset: 0x89720 length: 0x1000
READ64 image: 13 offset: 0x8a720 length: 0x1000
READ64 image: 13 offset: 0x8b720 length: 0x1000
READ64 image: 13 offset: 0x8c720 length: 0x1000
READ64 image: 13 offset: 0x8d720 length: 0x1000
READ64 image: 13 offset: 0x8e720 length: 0xbf0
READ64 image: 13 offset: 0x8f310 length: 0x1000
READ64 image: 13 offset: 0x90310 length: 0x1000
READ64 image: 13 offset: 0x91310 length: 0x1000
READ64 image: 13 offset: 0x92310 length: 0x1000
READ64 image: 13 offset: 0x93310 length: 0x1000
READ64 image: 13 offset: 0x94310 length: 0xbf0
READ64 image: 13 offset: 0x94f00 length: 0x1000
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READ64 image: 13 offset: 0xa0f00 length: 0x1000
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READ64 image: 13 offset: 0xa2f00 length: 0x1000
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READ64 image: 13 offset: 0xa8f00 length: 0x1000
READ64 image: 13 offset: 0xa9f00 length: 0x1000
END OF IMAGE image: 13 status: 0
DONE status: 1
[MODALAI] Completed sahara_run
[MODALAI] Executing firehose_run
[MODALAI] Executing firehose_read
LOG: INFO: Binary build date: Mar  6 2020 @ 17:34:12
LOG: INFO: Binary build date: Mar  6 2020 @ 17:34:12
LOG: INFO: Chip serial num: 4118209451 (0xf576e3ab)
LOG: INFO: Supported Functions (15):
LOG: INFO: program
LOG: INFO: read
LOG: INFO: nop
LOG: INFO: patch
LOG: INFO: configure
LOG: INFO: setbootablestoragedrive
LOG: INFO: erase
LOG: INFO: power
LOG: INFO: firmwarewrite
LOG: INFO: getstorageinfo
LOG: INFO: benchmark
LOG: INFO: emmc
LOG: INFO: ufs
LOG: INFO: fixgpt
LOG: INFO: getsha256digest
LOG: INFO: End of supported functions 15
[MODALAI] Completed firehose_read
[MODALAI] Executing ufs_need_provisioning
[MODALAI] Turns out ufs needs provisioning
[MODALAI] <ufs_prov> executing firehose_configure
LOG: INFO: Calling handler for configure
LOG: INFO: Storage type set to value UFS
LOG: DEBUG: Calling usb_al_bulk_set_zlp_mode(TRUE), zlp is not set to 0
[MODALAI] <ufs_prov> finished firehose_configure
[MODALAI] <ufs_prov> executing ufs_provisioning_execute
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute LUNum with value
LOG: DEBUG: Can't decode attribute qVendorConfigCode with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute LUNum with value
LOG: DEBUG: Can't decode attribute bBootEnable with value
LOG: DEBUG: Can't decode attribute bDescrAccessEn with value
LOG: DEBUG: Can't decode attribute bInitPowerMode with value
LOG: DEBUG: Can't decode attribute bHighPriorityLUN with value
LOG: DEBUG: Can't decode attribute bSecureRemovalType with value
LOG: DEBUG: Can't decode attribute bInitActiveICCLevel with value
LOG: DEBUG: Can't decode attribute wPeriodicRTCUpdate with value
LOG: DEBUG: Can't decode attribute bWriteBoosterBufferPreserveUserSpaceEn with value
LOG: DEBUG: Can't decode attribute bWriteBoosterBufferType with value
LOG: DEBUG: Can't decode attribute shared_wb_buffer_size_in_kb with value
LOG: DEBUG: Can't decode attribute bConfigDescrLock with value
LOG: DEBUG: Can't decode attribute qVendorConfigCode with value
UFS provisioning succeeded
[MODALAI] <ufs_prov> finished ufs_provisioning_execute
[MODALAI] executing firehose_reset
LOG: INFO: Calling handler for power
LOG: DEBUG: Can't decode attribute DelayInSeconds with value
LOG: INFO: Will issue reset/power off 100 useconds, if this hangs check if watchdog is enabled
LOG: INFO: bsp_target_reset() 1
[MODALAI] finished firehose_reset
[MODALAI] Completed firehose_run


UFS provisioning succeeded, please reset power to the device

ashwin

Hello @Alex-Kushleyev,

Thank you for the confirmation.
It has helped us decide upon the architecture for the current and an upcoming project.
The suggested M0141 add-on is really helpful suggestion as well.

Regards,
Ashwin

ashwin

@Alex-Kushleyev

I found a post on the forum stating that there is a library, namely libqrb5165_io, that can be used to access the port in the AP if I am not using PX4 (https://forum.modalai.com/topic/2916/j19-uart-port-mapping?_=1741378878682).

Is this still valid?
This is just an alternate in case we are not able to figure out any other means to read all the camera sensors into the DSP.

Regards,
Ashwin

ashwin

Hello @Alex-Kushleyev ,

No, the TOFs were supposed to be read into the main DSP to process the data to understand the drone surroundings.
I was not aware that the I2C is only accessible from PX4.

Is there a potential alternate port that can be used for the same?
How about using the SPI port (J10)?

Regards,
Ashwin

ashwin

@tom The output is exactly the same irrespective of whether the SW2 is ON or OFF.

[Mar 7 14:29] usb 1-9: new high-speed USB device number 6 using xhci_hcd
[  +0.129038] usb 1-9: New USB device found, idVendor=05c6, idProduct=9008, bcdDevice= 0.00
[  +0.000013] usb 1-9: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[  +0.000004] usb 1-9: Product: QUSB_BULK_CID:0412_SN:F576E3AB
[  +0.000004] usb 1-9: Manufacturer: Qualcomm CDMA Technologies MSM
[  +0.029109] usbcore: registered new interface driver usbserial_generic
[  +0.000028] usbserial: USB Serial support registered for generic
[  +0.004709] usbcore: registered new interface driver qcserial
[  +0.000024] usbserial: USB Serial support registered for Qualcomm USB modem
[  +0.000023] qcserial 1-9:1.0: Qualcomm USB modem converter detected
[  +0.000180] usb 1-9: Qualcomm USB modem converter now attached to ttyUSB0

ashwin

@tom Kindly find the terminal output below

[Mar 6 11:08] usb 1-9: new high-speed USB device number 6 using xhci_hcd
[  +0.130213] usb 1-9: New USB device found, idVendor=05c6, idProduct=9008, bcdDevice= 0.00
[  +0.000016] usb 1-9: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[  +0.000005] usb 1-9: Product: QUSB_BULK_CID:0412_SN:F576E3AB
[  +0.000004] usb 1-9: Manufacturer: Qualcomm CDMA Technologies MSM
[  +0.031088] usbcore: registered new interface driver usbserial_generic
[  +0.000035] usbserial: USB Serial support registered for generic
[  +0.003699] usbcore: registered new interface driver qcserial
[  +0.000025] usbserial: USB Serial support registered for Qualcomm USB modem
[  +0.000026] qcserial 1-9:1.0: Qualcomm USB modem converter detected
[  +0.000175] usb 1-9: Qualcomm USB modem converter now attached to ttyUSB0

ashwin

Hello @Alex-Kushleyev,

We are actually planning to use the C27 configuration in the exact manner mentioned by you.

Also, you are correct that the TOF V2 is more capable than any I2C TOF we are finding in the market. But, as mentioned earlier, it is not possible to connect 4 TOF V2, so we are using the I2C TOFs with an I2C multiplexer to achieve the bare minimum objective.

The I2C multiplexer will be connected to the I2C3 port on the VOXL2 board (J19).

Ashwin

ashwin

@tom I apologize for the delayed response.
I did refer to this document and am using the correct QDLimage.
I am using M0054-1 as the chip on the board says QRB5165M

ashwin

@Alex-Kushleyev Our final solution will have 4 AR0144 (M0166) along with 4 ToF. The objective is to be able to view all sides of the craft along with distance sensing in all directions.
However, based on your responses, we are working on changing the architecture and instead use an I2C multiplexer with 4 I2C ToF sensors. As per my understanding, that should be integrable with 4 AR0144 cameras.

ashwin

@Vinny @Alex-Kushleyev

Thanks for the information. It would be really helpful in our decision making towards our project planning.

Regards,
Ashwin

ashwin

@ashwin

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