Problems starting muorb on Snapdragon flight

1

I am trying to get to start development on the Snapdragon flight board. I have compiled the latest Firmware master branch, and uploaded it to the Snapdragon. When trying to run the px4 executable with ./px4 mainapp.config on the Snapdragon, I get the error ERROR [muorb] ERROR: Getting Bulk data from fastRPC link.

Does anyone know what the problem could be?

Here is the full terminal output that I get when running the px4 executable:

root@linaro-developer:/home/linaro# ./px4 mainapp.config 
sh: 1: cannot create /sys/devices/system/cpu/cpu3/cpufreq/scaling_governor: Directory nonexistent
commands file: mainapp.config

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [sdlog2] [blackbox] /root/log/2016-11-09
INFO  [sdlog2] [blackbox] recording: 11_42_18.px4log
ERROR [muorb] ERROR: Getting Bulk data from fastRPC link
INFO  [dataman] Unkown restart, data manager file '/home/linaro/dataman' size is 47640 bytes
INFO  [mavlink] mode: Normal, data rate: 1000000 B/s on udp port 14556 remote port 14550
Sleeping for 1 s; (1000000 us).
pxh> INFO  [mavlink] using network interface wlan0, IP: 192.168.1.88
INFO  [mavlink] with broadcast IP: 192.168.1.255
pxh>
2

Getting the same error. Stuck as well. Let’s try and figure it out.
This call is in the <PX4_Firmware>/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp file, line 343. Possibly, this is coming from the fastrpc_recv_thread function of the .../muorb/krait.uORBKraitFastRpcChannel.cpp file, line 232, on thread start (only place where receiveBulkData function is called in this file). I don’t think that this breaks the thread’s main loop, though, otherwise there would be another message of something like exiting thread. I don’t really know how to debug muorb without changing the PX4 code.

There is little indication from mini-dm (to my knowledge) that something is up QURT-side. Possibly the HAP:110:cannot find /oemconfig.so 0141 load.c is a clue. I have tried RPC calls on non-px4 programs, and they work fine. Although, I have never tried to set any pointers (read function parameters that are pointers) in shared memory, which I think is what is going on here for the Krait<->Hexagon uORB messaging.

If u figure out the problem or another solution, let me know. I’m also down to chat about potential methods of debugging.

3

Check to be sure that you have the latest aDSP static image. You can get a prerelease version of the aDSP static image from the Intrinsyc website: https://www.intrinsyc.com/fchsdkaddon/

Also, if you use the tool called mini-dm it will provide a more detailed (more aDSP specific) error log than the one from the PX4 console. If you post this log in the forum, I can help investigate the problem.

4

Hi jy,

I have followed some of the work that you have done with bug fixing on the Snapdragon. Y’all are awesome. Sorry to thread-steal, but I have a similar problem. I just upgraded aDSP static image through the FC Hexagon addon, and same error as before.

`
commands file: mainapp.config
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:136:failed to create tls key/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/listener_android.c:112:listener using ion heap: -1

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [sdlog2] [blackbox] /root/log/sess003
INFO [sdlog2] [blackbox] recording: log001.px4log
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/listener_android.c:129:listener protocol failure -1
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/listener_android.c:133::error: -1: 0 == (nErr = __QAIC_HEADER(adsp_listener_next_invoke)( ctx, nErr, 0, 0, &ctx, &handle, &sc, bufs->inbufs, inBufsAllocated, bufs->inbufLenReqs, MAX_BUFS, bufs->outbufLenReqs, MAX_BUFS))
ERROR /media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/listener_android.c:192:listener thread exiting with code -1
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/listener_android.c:194:listener thread failed to cleanly shutdown. This is ok durring process exit.
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
[muorb] ERROR: Getting Bulk data from fastRPC link
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
/media/intrinsyc/BigDrive/Project/APQ8074Flight/LNX.LER.1.0-68037/APQ8074Flight/oe-core/build/tmp-eglibc/work/cortexa8hf-vfp-neon-linux-gnueabi/adsprpc/1.0-r0/adsprpc-1.0/src/fastrpc_apps_user.c:224::error: -1: 0 == (nErr = remotectl_open(name, (int*)ph, dlerrstr, sizeof(dlerrstr), &dlerr))
INFO [dataman] Unkown restart, data manager file ‘/home/linaro/dataman’ size is 47640 bytes
INFO [mavlink] mode: Normal, data rate: 1000000 B/s on udp port 14556 remote port 14550
Sleeping for 1 s; (1000000 us).
pxh>
`

mini-dm log
Running mini-dm version: 3.0 Device found with Product ID 0x9025. Continuing... mini-dm is waiting for a DMSS connection... DMSS is connected. Running mini-dm... [08500/03] 33:50.466 HAP:63:HAP_debug_v2 weak ref not found, return _rtld_sym_zero@_rtld_objmain 0294 symbol.c [08500/03] 33:50.466 HAP:63:HAP_debug_v2 weak ref not found, return _rtld_sym_zero@_rtld_objmain 0294 symbol.c [08500/03] 33:50.467 HAP:63:HAP_debug_v2 weak ref not found, return _rtld_sym_zero@_rtld_objmain 0294 symbol.c [08500/03] 33:50.467 HAP:63:HAP_debug_v2 weak ref not found, return _rtld_sym_zero@_rtld_objmain 0294 symbol.c [08500/00] 33:50.480 HAP:61:In dspal_entry 0220 main.cpp [08500/00] 33:50.597 HAP:61:attempting to open the ADSP command file: /dev/fs/px4.config 0184 main.cpp [08500/00] 33:50.597 HAP:61:reading commands from /dev/fs/px4.config 0191 main.cpp [08500/00] 33:51.618 configuring UART for 2-wire mode, DAL id: 0x2001001 0859 DalUart.c [08500/00] 33:51.738 HAP:61:1257259 Reset MPU9250 0089 MPU9250.cpp [08500/00] 33:51.801 HAP:60:1320294 IMU temperature initialized to: 55.831024 0516 MPU9250.cpp [08500/00] 33:51.803 HAP:61:1322201 additional sensor configuration succeeded 0187 BMP280.cpp [08500/02] 33:51.815 HAP:12329:LED: getHandle fail 0269 commander_helper.cpp [08500/02] 33:51.815 HAP:12329:LED init failed 1341 commander.cpp [08500/02] 33:51.815 HAP:12329:Buzzer: px4_open fail 0132 commander_helper.cpp [08500/02] 33:51.815 HAP:12329:Buzzer init failed 1345 commander.cpp [08500/02] 33:51.817 HAP:12329:Preflight checks always pass on Snapdragon. 0392 PreflightCheck.cpp [08500/02] 33:52.738 mmpm_register: MMPM client for USM ADSP core 12 0117 UltrasoundStreamMgr_Mmpm.cpp [08500/02] 33:52.740 ADSP License DB: License validation function with id 164678 stored. 0280 adsp_license_db.cpp [08500/02] 33:52.740 AvsCoreSvc: StartSvcHandler Enter 0518 AdspCoreSvc.cpp [08500/02] 33:52.740 AdspCoreSvc: Started successfully 0534 AdspCoreSvc.cpp [08500/02] 33:52.742 loading BLSP configuration 0217 blsp_config.c [08500/02] 33:52.972 HAP:110:cannot find /oemconfig.so 0141 load.c [08500/03] 33:52.972 HAP:111::error: -1: 0 == dynconfig_init(&conf, "security") 0696 sigverify.c [08500/02] 33:52.972 opened /usr/share/data/adsp/blsp.config 0237 blsp_config.c [08500/02] 33:52.973 HAP:79:cannot find /voiceproc_tx.so 0141 load.c [08500/02] 33:52.973 read 76 bytes 0248 blsp_config.c [08500/02] 33:52.973 found tty- next char 1 0087 blsp_config.c [08500/02] 33:52.973 uart_dev_id 1 0098 blsp_config.c [08500/02] 33:52.973 found bam- next char 9 0129 blsp_config.c [08500/02] 33:52.973 bam_id 9 0137 blsp_config.c [08500/02] 33:52.973 set tty-1 = BAM-9 0161 blsp_config.c [08500/02] 33:52.973 2-wire UART enabled for tty-1 0186 blsp_config.c [08500/02] 33:52.973 found tty- next char 2 0087 blsp_config.c [08500/02] 33:52.973 uart_dev_id 2 0098 blsp_config.c [08500/02] 33:52.973 found bam- next char 8 0129 blsp_config.c [08500/02] 33:52.973 bam_id 8 0137 blsp_config.c [08500/02] 33:52.973 set tty-2 = BAM-8 0161 blsp_config.c [08500/02] 33:52.973 2-wire UART enabled for tty-2 0186 blsp_config.c [08500/02] 33:52.973 found tty- next char 3 0087 blsp_config.c [08500/02] 33:52.973 uart_dev_id 3 0098 blsp_config.c [08500/02] 33:52.973 found bam- next char 6 0129 blsp_config.c [08500/02] 33:52.973 bam_id 6 0137 blsp_config.c [08500/02] 33:52.973 set tty-3 = BAM-6 0161 blsp_config.c [08500/02] 33:52.973 2-wire UART enabled for tty-3 0186 blsp_config.c [08500/02] 33:52.973 found tty- next char 4 0087 blsp_config.c [08500/02] 33:52.973 uart_dev_id 4 0098 blsp_config.c [08500/02] 33:52.973 found bam- next char 2 0129 blsp_config.c [08500/02] 33:52.973 bam_id 2 0137 blsp_config.c [08500/02] 33:52.975 set tty-4 = BAM-2 0161 blsp_config.c [08500/02] 33:52.975 2-wire UART enabled for tty-4 0186 blsp_config.c [08500/02] 33:52.975 UART tty-1: BAM-9, 2-wire: 1 0198 blsp_config.c [08500/02] 33:52.975 UART tty-2: BAM-8, 2-wire: 1 0198 blsp_config.c [08500/02] 33:52.975 UART tty-3: BAM-6, 2-wire: 1 0198 blsp_config.c [08500/02] 33:52.975 UART tty-4: BAM-2, 2-wire: 0 0198 blsp_config.c [08500/02] 33:52.975 UART tty-5: BAM: [not found] 0203 blsp_config.c [08500/02] 33:52.975 UART tty-6: BAM: [not found] 0203 blsp_config.c [08500/02] 33:52.975 HAP:79:cannot find /voiceproc_rx.so 0141 load.c [08500/02] 33:52.975 BLSP configuration loaded 0268 main.c