Hi,
according to this page:
https://docs.modalai.com/voxl-px4-system-architecture/
is possible to develope code that runs on both ARM application processor and Hexagon DSP
How to do that? Where is possible to find Doc and SDK that allow similar architecture support.
We would like to port/adapt an existing code that runs on an Arduino Nano board to a SMARC RB5 board, in order to control external hardware through its GPIOs and other pins.

Hope you can share this information
Thanks in advance

@modaltb
no, it behaves the same and returns the identical error message on dmesg.

@modaltb ok, thanks, actually building in perf mode solved the gpio issue.
We need to detect usb HUB TI TUSB8041.
This is enabled by GPIO131, and now the kernel enumerates it

Bus 002 Device 002: ID 0451:8140 Texas Instruments, Inc. 
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

But no devices were linked to it.

dmesg output reported following messages:

[   28.656134] usb 1-1: new low-speed USB device number 2 using xhci-hcd
[   28.776276] usb 1-1: device descriptor read/64, error -71
[   29.000256] usb 1-1: device descriptor read/64, error -71
[   29.224480] usb 2-1: new SuperSpeed Gen 1 USB device number 2 using xhci-hcd
[   29.241526] usb 2-1: New USB device found, idVendor=0451, idProduct=8140, bcdDevice= 2.00
[   29.241541] usb 2-1: New USB device strings: Mfr=0, Product=0, SerialNumber=0
[   29.360270] usb 1-1: new low-speed USB device number 3 using xhci-hcd
[   29.450776] hub 2-1:1.0: USB hub found
[   29.451044] hub 2-1:1.0: 4 ports detected
[   29.480718] usb 1-1: device descriptor read/64, error -71
[   29.704270] usb 1-1: device descriptor read/64, error -71
[   29.808495] usb usb1-port1: attempt power cycle
[   30.440376] usb 1-1: new low-speed USB device number 4 using xhci-hcd
[   30.440852] usb 1-1: Device not responding to setup address.
[   30.644893] usb 1-1: Device not responding to setup address.
[   30.848259] usb 1-1: device not accepting address 4, error -71
[   30.968127] usb 1-1: new low-speed USB device number 5 using xhci-hcd
[   30.968591] usb 1-1: Device not responding to setup address.
[   31.172610] usb 1-1: Device not responding to setup address.
[   31.376137] usb 1-1: device not accepting address 5, error -71
[   31.376368] usb usb1-port1: unable to enumerate USB device
[   33.761006] vdd_tof: disabling
[   33.761012] vdd_hap_boost: disabling

How can we correctly detect?
Thanks for your help.
Enrico

Hi @modaltb ,
thank for your reply.
I have installed the latest SDK, 1.1.3 same you mentioned.
Then rebuild the kernel and flashed.
The output of dmesg |grep voxl is following:

[   24.177791] voxl_fsync_mod: disagrees about version of symbol module_layout
[   24.185953] voxl_gpio_mod: disagrees about version of symbol module_layout
[   24.194024] voxl_platform_mod: disagrees about version of symbol module_layout
[   32.003105] voxl_gpio_mod: disagrees about version of symbol module_layout
[   32.004019] voxl_fsync_mod: disagrees about version of symbol module_layout
[   32.016895] voxl_platform_mod: disagrees about version of symbol module_layout

Original kernel replies with following output:

[    2.383515] voxl_fsync_mod_init
[    2.383703] voxl_fsync_probe
[    2.383801] voxl_fsync_probe : OK
[    2.384617] voxl-gpio init
[    2.385049] voxl_gpio_probe
[    2.385143] voxl-gpio: gpio0 - output, high
[    2.385163] voxl-gpio: gpio1 - output, high
[    2.385187] voxl-gpio: gpio53 - output, high
[    2.385209] voxl-gpio: gpio56 - output, high
[    2.385231] voxl-gpio: gpio57 - output, high
[    2.385251] voxl-gpio: gpio85 - output, high
[    2.385269] voxl-gpio: gpio86 - output, high
[    2.385291] voxl-gpio: gpio87 - output, high
[    2.385309] voxl-gpio: gpio88 - output, high
[    2.385327] voxl-gpio: gpio89 - output, high
[    2.385345] voxl-gpio: gpio124 - output, high
[    2.385364] voxl-gpio: gpio152 - output, high
[    2.385382] voxl-gpio: gpio157 - output, high
[    2.385403] voxl-gpio: gpio159 - output, high
[    2.385423] voxl-gpio: gpio36 - output, low
[    2.385442] voxl-gpio: gpio37 - output, low
[    2.385463] voxl-gpio: gpio46 - output, low
[    2.385483] voxl-gpio: gpio54 - output, low
[    2.385503] voxl-gpio: gpio55 - output, low
[    2.385522] voxl-gpio: gpio67 - output, low
[    2.385549] voxl-gpio: gpio82 - output, low
[    2.385564] voxl-gpio: gpio83 - output, low
[    2.385581] voxl-gpio: gpio84 - output, low
[    2.385603] voxl-gpio: gpio131 - output, low
[    2.385623] voxl-gpio: gpio153 - output, low
[    2.385643] voxl-gpio: gpio154 - output, low
[    2.385663] voxl-gpio: gpio155 - output, low
[    2.385686] voxl-gpio: gpio48 - input
[    2.385705] voxl-gpio: gpio49 - input
[    2.385728] voxl-gpio: gpio50 - input
[    2.385744] voxl-gpio: gpio51 - input
[    2.385763] voxl-gpio: gpio52 - input
[    2.385765] voxl-gpio probe complete
[    2.386275] voxl-platform init
[    2.386369] voxl_platform_probe
[    2.386416] voxl-platform: Machine: - ID - 1
[    2.386418] voxl-platform: Variant: - ID - 0
[    2.386419] voxl-platform probe complete

Hi, I need to add a new USB device to usb core driver: hub.c
I can modify it and rebuild a new kernel successfully, but after flashing it I cannot use gpio sysfs anymore.
The interface is present, but when attempting to write on /sys/class/gpio/export file it returns me with this error:

voxl2:/$ echo 131 > /sys/class/gpio/export 
bash: echo: write error: Invalid argument

Kernel version is:

voxl2:/$ uname -a
Linux m0054 4.19.125 #1 SMP PREEMPT Fri Apr 12 14:07:33 UTC 2024 aarch64 aarch64 aarch64 GNU/Linux

I am building from kernel GIT repo on branch qrb5165-ubun1.0-14.1a

Also command voxl-gpio read/write returns error

voxl2:/$ voxl-gpio read 131
ERROR:   Invalid GPIO direction for pin 131: got 0
ERROR:   Failed to open path /sys/class/gpio/gpio1231/value
ERROR reading from pin number : 131 (got -1, expected 0 or 1

According to documentation it should work
https://docs.modalai.com/voxl-gpio-io/#manipulating-gpio-using-linux-commands

Thanks in advance
Enrico

@Alex-Kushleyev I could fix it!
The problem was in the git submodule configuration: the px4-autopilot repo, was not correctly configured and command git submodule update --init --recursive was incomplete.

Now I can correctly build our px4-autopilot inside docker container. And deploy to target, install and run it!

Kind Regards

@Alex-Kushleyev yes, I did it exactly how described in https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4
The problem occurs when I try to replace the submodule px4-firmware with another (in this case it is named px4-autopilot) using git submodule add <path_to_repo>
Then I modified the build.sh clean.sh and make-package.sh in order to use the new repo/submodule instead the original one.
All this is done inside the rb5-flight-px4-build-docker.

The error is:

/usr/local/workspace/px4-autopilot/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp:49:10: fatal error: 'mavlink.h' file not found
#include <mavlink.h>
         ^~~~~~~~~~~
1 error generated.
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: modalai_voxl2-slpi] Error 1
cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory
*** End of qurt slpi build ***
/usr/local/workspace
User ID is 1000
Group ID is 1000
*** End of build ***

Hi I am trying to build a customized px4 for voxl2
So I added our repo as submodule but the build fails with following error message:

/usr/local/workspace/px4-autopilot/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp:49:10: fatal error: 'mavlink.h' file not found
#include <mavlink.h>

I have previously succesfully built with native px4-firmware repo, and also deployed on target.
I did not overwrite original px4-firmware, but I added a new px4-autopilot folder that has the same structure, hence I expect it build in same way.
Obviously I modified the existing scripts to use px4-autopilot folder instead of px4-firmware

May be this is not sufficient?
Thanks in Advance
Enrico

@Eric-Katzfey thanks, I completed all steps successfully and also built the px4 image for voxl2

Thanks a lot for your help
Enrico

@Eric-Katzfey the directory is shown in the shell prompt: it is /local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/
I assume this is the default installation path for Hexagon_SDK v 4.1.0.4 sinc I have not customized the installation path.

Kind Regards