U-Boot SPL 2011.09 (Sep 02 2020 - 11:09:35) Texas Instruments Revision detection unimplemented Booting from NAND... ecc pos 195 mask 3 U-Boot 2011.09 (Sep 02 2020 - 11:09:35) I2C: ready DRAM: 512 MiB WARNING: Caches not enabled Did not find a recognized configuration, assuming General purpose EVM in Profile 0 with Daughter board NAND: HW ECC BCH8 Selected ONFI flash detected ONFI param page 0 valid HW ECC BCH8 Selected 512 MiB MMC: OMAP SD/MMC: 0 *** Warning - bad CRC, using default environment Video : Drawing the logo from nand. NAND read: device 0 offset 0x600000, size 0x36 54 bytes read: OK NAND read: Size exceeds partition or device limit Error: no valid bmp image at 84000000 Net: miiphy_register: added 'cpsw', read=0x9ff977e8, write=0x9ff97858 cpsw Hit any key to stop autoboot: 0 Booting from nand ... NAND read: device 0 offset 0x580000, size 0x500000 ecc pos 401 mask 3 ecc pos 277 mask 1 ecc pos 295 mask 6 ecc pos 341 mask 0 ecc pos 129 mask 5 ecc pos 481 mask 2 ecc pos 39 mask 3 ecc pos 427 mask 3 5242880 bytes read: OK ## Booting kernel from Legacy Image at 80200000 ... Image Name: Linux-3.2.01.1-gc171649-dirty Image Type: ARM Linux Kernel Image (uncompressed) Data Size: 2557776 Bytes = 2.4 MiB Load Address: 80008000 Entry Point: 80008000 Verifying Checksum ... OK Loading Kernel Image ... OK OK Starting kernel ... Linux version 3.2.01.1-gc171649-dirty (root@forlinx) (gcc version 4.5.3 20110311 (prerelease) (GCC) ) #1 Fri Aug 21 09:56:03 CST 2020 CPU: ARMv7 Processor [413fc082] revision 2 (ARMv7), cr=10c53c7d CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache Machine: sbc8600 Memory policy: ECC disabled, Data cache writeback AM335X ES1.0 (sgx neon ) Built 1 zonelists in Zone order, mobility grouping on. Total pages: 130048 Kernel command line: console=ttyO0,115200n8 root=ubi0:rootfs rw ubi.mtd=9,2048 rootfstype=ubifs rootwait=1 screentype=R screensize=800x480-7 calibrate=Y laohua=N PID hash table entries: 2048 (order: 1, 8192 bytes) Dentry cache hash table entries: 65536 (order: 6, 262144 bytes) Inode-cache hash table entries: 32768 (order: 5, 131072 bytes) Memory: 512MB = 512MB total Memory: 514512k/514512k available, 9776k reserved, 0K highmem Virtual kernel memory layout: vector : 0xffff0000 - 0xffff1000 ( 4 kB) fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB) vmalloc : 0xe0800000 - 0xff000000 ( 488 MB) lowmem : 0xc0000000 - 0xe0000000 ( 512 MB) modules : 0xbf000000 - 0xc0000000 ( 16 MB) .text : 0xc0008000 - 0xc0478000 (4544 kB) .init : 0xc0478000 - 0xc04aa000 ( 200 kB) .data : 0xc04aa000 - 0xc04f46e0 ( 298 kB) .bss : 0xc04f4704 - 0xc051d3ec ( 164 kB) NR_IRQS:396 IRQ: Found an INTC at 0xfa200000 (revision 5.0) with 128 interrupts Total of 128 interrupts on 1 active controller OMAP clockevent source: GPTIMER2 at 24000000 Hz omap_dm_timer_switch_src: Switching to HW default clocksource(sys_clkin_ck) for timer1, this may impact timekeeping in low power state OMAP clocksource: GPTIMER1 at 24000000 Hz sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 178956ms Console: colour dummy device 80x30 Calibrating delay loop... 718.02 BogoMIPS (lpj=3590144) pid_max: default: 32768 minimum: 301 Security Framework initialized Mount-cache hash table entries: 512 CPU: Testing write buffer coherency: ok devtmpfs: initialized omap_hwmod: pruss: failed to hardreset print_constraints: dummy: NET: Registered protocol family 16 OMAP GPIO hardware version 0.1 omap_mux_init: Add partition: #1: core, flags: 0 omap_i2c.1: alias fck already exists omap_hsmmc.0: alias fck already exists d_can.0: alias fck already exists omap2_mcspi.1: alias fck already exists omap2_mcspi.2: alias fck already exists edma.0: alias fck already exists edma.0: alias fck already exists edma.0: alias fck already exists bio: create slab at 0 SCSI subsystem initialized omap_i2c omap_i2c.1: bus 1 rev2.4.0 at 300 kHz Switching to clocksource gp timer NET: Registered protocol family 2 IP route cache hash table entries: 4096 (order: 2, 16384 bytes) TCP established hash table entries: 16384 (order: 5, 131072 bytes) TCP bind hash table entries: 16384 (order: 4, 65536 bytes) TCP: Hash tables configured (established 16384 bind 16384) TCP reno registered UDP hash table entries: 256 (order: 0, 4096 bytes) UDP-Lite hash table entries: 256 (order: 0, 4096 bytes) NET: Registered protocol family 1 RPC: Registered named UNIX socket transport module. RPC: Registered udp transport module. RPC: Registered tcp transport module. RPC: Registered tcp NFSv4.1 backchannel transport module. NetWinder Floating Point Emulator V0.97 (double precision) omap-gpmc omap-gpmc.0: GPMC revision 6.0 Registering NAND on CS0 cpuidle-am33xx cpuidle-am33xx.0: failed to register driver VFS: Disk quotas dquot_6.5.2 Dquot-cache hash table entries: 1024 (order 0, 4096 bytes) msgmni has been set to 1004 alg: No test for stdrng (krng) Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253) io scheduler noop registered io scheduler deadline registered io scheduler cfq registered (default) omap_uart.0: ttyO0 at MMIO 0x44e09000 (irq = 72) is a OMAP UART0 console [ttyO0] enabled omap_uart.1: ttyO1 at MMIO 0x48022000 (irq = 73) is a OMAP UART1 omap_uart.2: ttyO2 at MMIO 0x48024000 (irq = 74) is a OMAP UART2 omap_uart.3: ttyO3 at MMIO 0x481a6000 (irq = 44) is a OMAP UART3 omap_uart.4: ttyO4 at MMIO 0x481a8000 (irq = 45) is a OMAP UART4 omap_uart.5: ttyO5 at MMIO 0x481aa000 (irq = 46) is a OMAP UART5 brd: module loaded loop: module loaded mtdoops: mtd device (mtddev=name/number) must be supplied nand res start 0x48080000 size 8192 omap2-nand driver initializing ONFI flash detected ONFI param page 0 valid NAND device: Manufacturer ID: 0x2c, Chip ID: 0xdc (Micron MT29F4G08ABADAWP) Creating 10 MTD partitions on "omap2-nand.0": 0x000000000000-0x000000020000 : "SPL" 0x000000020000-0x000000040000 : "SPL.backup1" 0x000000040000-0x000000060000 : "SPL.backup2" 0x000000060000-0x000000080000 : "SPL.backup3" 0x000000080000-0x000000280000 : "U-Boot" 0x000000280000-0x000000480000 : "U-Boot1" 0x000000480000-0x000000580000 : "U-Boot Env" 0x000000580000-0x000000a80000 : "Kernel" 0x000000a80000-0x000000f80000 : "Kernel1" 0x000000f80000-0x000020000000 : "File System" UBI: attaching mtd9 to ubi0 UBI: physical eraseblock size: 131072 bytes (128 KiB) UBI: logical eraseblock size: 126976 bytes UBI: smallest flash I/O unit: 2048 UBI: sub-page size: 512 UBI: VID header offset: 2048 (aligned 2048) UBI: data offset: 4096 UBI: max. sequence number: 485 UBI: attached mtd9 to ubi0 UBI: MTD device name: "File System" UBI: MTD device size: 496 MiB UBI: number of good PEBs: 3972 UBI: number of bad PEBs: 0 UBI: number of corrupted PEBs: 0 UBI: max. allowed volumes: 128 UBI: wear-leveling threshold: 4096 UBI: number of internal volumes: 1 UBI: number of user volumes: 1 UBI: available PEBs: 0 UBI: total number of reserved PEBs: 3972 UBI: number of PEBs reserved for bad PEB handling: 39 UBI: max/mean erase counter: 4/0 UBI: image sequence number: 585216608 UBI: background thread "ubi_bgt0d" started, PID 383 CAN device driver interface CAN bus driver for Bosch D_CAN controller 1.0 d_can d_can.0: device registered (irq=52, irq_obj=53) davinci_mdio davinci_mdio.0: davinci mdio revision 1.6 davinci_mdio davinci_mdio.0: detected phy mask ffffffef davinci_mdio.0: probed davinci_mdio davinci_mdio.0: phy[4]: device 0:04, driver unknown mousedev: PS/2 mouse device common for all mice i2c /dev entries driver i2c-core: driver [ch7033] using legacy suspend method i2c-core: driver [ch7033] using legacy resume method sdhci: Secure Digital Host Controller Interface driver sdhci: Copyright(c) Pierre Ossman tiadc tiadc: attached adc driver gpmc fpga init Gpmc Fpga Getting Chip Select GPMC FPGA revision 6.0 FPGA GPMC_CS_CONFIG7 org value 0xf00 Got CS3 For Fpga , address = 1000000 Got CS3 For Fpga , fpga_base address = 0xe084c000 gpio_boardinfo_dev_init: registered boardinfo device: gpio_boardinfo 200 0xc04eb8f4 gpio_get_boardinfo: BOARD_ID_1 is 1 gpio_get_boardinfo: BOARD_ID_2 is 0 gpio_get_boardinfo: BOARD_ID_3 is 1 gpio_get_boardinfo: BOARD_ID_4 is 1 gpio_get_boardinfo: BOARD_ID is 13 gpio_boardinfo_dev_init: gpio boardinfo module loaded, info:0xd gpio_ctrl_dev_init: registered gpio ctrl device: gpio_ctrl 210 0xc04eb98c oprofile: hardware counters not available oprofile: using timer interrupt. TCP cubic registered NET: Registered protocol family 17 can: controller area network core (rev 20090105 abi 8) NET: Registered protocol family 29 can: raw protocol (rev 20090105) can: broadcast manager protocol (rev 20090105 t) Registering the dns_resolver key type VFP support v0.3: implementor 41 architecture 3 part 30 variant c rev 3 ThumbEE CPU extension supported. mux: Failed to setup hwmod io irq -22 Power Management for AM33XX family Trying to load am335x-pm-firmware.bin (60 secs timeout) Copied the M3 firmware to UMEM clock: disabling unused clocks to save power Detected MACID=fc:69:47:9c:55:5c cpsw: Detected MACID = fc:69:47:9c:55:5e UBIFS: recovery needed UBIFS: recovery completed UBIFS: mounted UBI device 0, volume 0, name "rootfs" UBIFS: file system size: 497491968 bytes (485832 KiB, 474 MiB, 3918 LEBs) UBIFS: journal size: 9023488 bytes (8812 KiB, 8 MiB, 72 LEBs) UBIFS: media format: w4/r0 (latest is w4/r0) UBIFS: default compressor: lzo UBIFS: reserved for root: 0 bytes (0 KiB) VFS: Mounted root (ubifs filesystem) on device 0:13. devtmpfs: mounted Freeing init memory: 200K init started: BusyBox v1.25.0 (2016-08-03 20:01:23 CST) /dev/console exist! /dev/null exist! set ip address according to board info dial switch! ip address is 192.168.3.12 net eth0: CPSW phy found : id is : 0x4dd072 rm: can't remove 'QT.tar': No such file or directory Board ID is M2! sys led on! sys led off! sys led on! /mnt/sd exist! /dev/mmcblk0p1 not exist, check sd card! can0 bitrate: 1000000, sample-point: 0.750 d_can d_can.0: can0: setting CAN BT = 0x2701 can0 state: ERROR-ACTIVE Processing /etc/profile... Done /etc/init.d/rcS: line 401: [d: not found /etc/init.d/rcS: line 401: [d: not found BusyBox v1.25.0 (2016-08-03 20:01:23 CST) built-in shell (ash) Processing /etc/profile... Done [root@YHLO]# SWITCHIO Functiogpio_dev_boardinfo_open: open gpio boardinfo dev ! n ready gpio_dev_boardinfo_read: read gpio buf len 4, rd data lth 13 Board ID -> M2gpio_dev_boardinfo_release: release gpio boardinfo dev Log Ver. 1.0.0.4 Net_Ver.1.0.0.25 Network:eDataTransferType:1 Log:ip:192.168.3.31,port:60012 Network:ip:192.168.3.30,port:60010 ConnectHost, ip=192.168.3.30, port=60010 Object::connect: No such signal CNetworkAdapterMgr::signalCmdSetSoftType(QString, QString, int, QString, QString) Object::connect: No such signal CNetworkAdapterMgr::signalCmdQuerySoftType(QString, QString, int, QString, QString) Object::connect: No such signal CNetworkAdapterMgr::signalCmdExeIMBR(QString,QString,int,QString,QString) MX Ver : 1.00.28.00.07.Sep 21 2018 15:40:13 /dev/fpga open success nMotor_LOG:"MD1 FPGA Version 6.1.7" ---UART FUNC--- /dev/ttyO4 open success Updata start /dev/ttyO4 Send Data:fa fa fa fa b 0 2 ./FkTemp.bin_123 doesn't exist, no upgrade Send Uart Data:0 0 f3 f3 Updata end Upgrade ip:192.168.3.31 ADJ_Parameter[0]=490 ADJ_Parameter[1]=690 ADJ_Parameter[2]=890 ADJ_Parameter[3]=1090 ADJ_Parameter[4]=1300 ADJ_Parameter[5]=0 ADJ_Parameter[6]=-490 ADJ_Parameter[7]=-1360 ADJ_Parameter[8]=2000 ADJ_Parameter[9]=-2400 ADJ_Parameter[10]=30 ADJ_Parameter[11]=200 ADJ_Parameter[12]=-50 ADJ_Parameter[13]=40 ADJ_Parameter[14]=180 ADJ_Parameter[15]=-2500 ADJ_Parameter[16]=100 ADJ_Parameter[17]=1640 ADJ_Parameter[18]=1640 ADJ_Parameter[19]=1640 ADJ_Parameter[20]=178 ADJ_Parameter[21]=-22 ADJ_Parameter[22]=88 ADJ_Parameter[23]=8 ADJ_Parameter[24]=100 ADJ_Parameter[25]=-800 ADJ_Parameter[26]=20 ADJ_Parameter[27]=2500 ADJ_Parameter[28]=0 ADJ_Parameter[29]=4795 ADJ_Parameter[30]=4780 ADJ_Parameter[31]=4750 ADJ_Parameter[32]=4695 ADJ_Parameter[33]=0 ADJ_Parameter[34]=3840 ADJ_Parameter[35]=3835 ADJ_Parameter[36]=3820 ADJ_Parameter[37]=3790 ADJ_Parameter[38]=3730 ADJ_Parameter[39]=0 ADJ_Parameter[40]=2880 ADJ_Parameter[41]=1920 ADJ_Parameter[42]=1490 ADJ_Parameter[43]=1488 ADJ_Parameter[44]=1478 ADJ_Parameter[45]=1455 ADJ_Parameter[46]=1408 ADJ_Parameter[47]=0 ADJ_Parameter[48]=370 ADJ_Parameter[49]=2000 ADJ_Parameter[50]=50 ADJ_Parameter[51]=30 ADJ_Parameter[52]=115 ADJ_Parameter[53]=320 ADJ_Parameter[54]=170 ADJ_Parameter[55]=190 ADJ_Parameter[56]=3000 ADJ_Parameter[57]=3 ADJ_Parameter[58]=40 ADJ_Parameter[59]=200 ADJ_Parameter[60]=5 ADJ_Parameter[61]=1 ADJ_Parameter[62]=0 ADJ_Parameter[63]=370 ADJ_Parameter[64]=200 ADJ_Parameter[65]=5 ADJ_Parameter[66]=1 ADJ_Parameter[67]=4 ADJ_Parameter[68]=360 ADJ_Parameter[69]=200 ADJ_Parameter[70]=5 ADJ_Parameter[71]=1 ADJ_Parameter[72]=0 Motor1 Current=3601 MicroStep=509 nMotor_LOG:"Motor1 Set_Mode1_Zero_Limit(100)" nMotor_LOG:"MRset(m1 @ S0 @ 180 @ -2500 @ 40 @ -50)" Motor2 Current=3617 MicroStep=407 nMotor_LOG:"Motor2 Set_Mode1_Zero_Limit(30)" nMotor_LOG:"MRset(m2 @ S19 @ 2000 @ -2400 @ 490 @ -490)" Motor3 Current=3857 MicroStep=509 nMotor_LOG:"Motor3 Set_Mode1_Zero_Limit(8)" nMotor_LOG:"MRset(m3 @ S6 @ 100 @ -800 @ 20 @ -22)" Motor4 Current=3601 MicroStep=509 nMotor_LOG:"M4 S+-(0 @ 0 @ 0 @ 0 @ 0 @ 0)" nMotor_LOG:"M4 S_CLIP_P(416 @ 10)" Motor5 Current=3841 MicroStep=458 nMotor_LOG:"CMove_HDiskMotion::Init_Hdiskdata()" Motor6 Current=3873 MicroStep=498 nMotor_LOG:"M6 S_CLIP_P(3000 @ 10)" nMotor_LOG:"Motor1 Set_Mode1_Zero_Limit(100)" nMotor_LOG:"M1-MRset-SRP(180 @ -2500 @ 40 @ -50)" nMotor_LOG:"Motor2 Set_Mode1_Zero_Limit(30)" nMotor_LOG:"M2-MRset-SRP(2000 @ -2400 @ 490 @ -490)" nMotor_LOG:"Motor3 Set_Mode1_Zero_Limit(8)" nMotor_LOG:"M3-MRset-SRP(100 @ -800 @ 20 @ -22)" nMotor_LOG:"M4 S_CLIP_P(416 @ 10)" nMotor_LOG:"M6 S_CLIP_P(3900 @ 10)" nMotor_LOG:"CMove_HDiskMotion::Init_Hdiskdata()" nMotor_LOG:"MD1 FPGA Version 6.1.7" Elum_MD2 V3.1.41 Uncompatible FPGA MD version - 1829 FPGA version uncompatible with software CMotionMgr::run() Started SYS_Sensor_Monitor::run() /dev/ttyO4 Send Data:fa 0 16 0 0 21 1 d0 7 0 0 32 0 0 0 1e 0 0 0 cd ff ff /dev/ttyO4 Send Data:fa 0 16 0 1 21 2 c8 0 0 0 5 0 0 0 1 0 0 0 f8 ff ff /dev/ttyO4 Send Data:fa 0 16 0 2 21 3 c8 0 0 0 5 0 0 0 1 0 0 0 fa ff ff /dev/ttyO4 Send Data:fa 0 e 0 3 33 1 72 1 0 0 4c ff ff /dev/ttyO4 Send Data:fa 0 e 0 4 33 2 72 1 0 0 48 ff ff /dev/ttyO4 Send Data:fa 0 e 0 5 33 3 68 1 0 0 52 ff ff /dev/ttyO4 Send Data:fa 0 e 0 6 51 1 3 0 0 0 5b ff ff UnRecvHeartCount:0,Socketstatus:0,LastBeatOK = 0 Reconnect /dev/ttyO4 Send Data:fa 0 e 0 7 51 2 4 0 0 0 5e ff ff /dev/ttyO4 Send Data:fa 0 e 0 8 51 3 0 0 0 0 54 ff ff /dev/ttyO4 Send Data:fa 0 a 0 9 32 1 30 ff ff Tempindex=9:: UnRecvHeartCount:1,Socketstatus:0,LastBeatOK = 0 Reconnect