I'm trying to connect to a Parrot Drone (BLE device) through Bluez in C, but the connection always fails with:
Connection timed out
hcidump says:
< HCI Command: LE Create Connection (0x08|0x000d) plen 25
bdaddr 78:BD:BC:0F:17:D8 type 0
interval 4 window 4 initiator_filter 0
own_bdaddr_type 0 min_interval 15 max_interval 15
latency 0 supervision_to 3200 min_ce 1 max_ce 1
> HCI Event: Command Status (0x0f) plen 4
LE Create Connection (0x08|0x000d) status 0x00 ncmd 1
The relevant portion of code:
uint16_t handle;
startBTHost();
if(hci_le_create_conn(
bte_params.dd,
htobs(0x0004),
htobs(0x0004),
0x00,
LE_PUBLIC_ADDRESS,
device->addr,
LE_PUBLIC_ADDRESS,
htobs(0x000F),
htobs(0x000F),
htobs(0x0000),
htobs(0x0C80),
htobs(0x0001),
htobs(0x0001),
&handle,
25000
) < 0) {
writelog(LOG_ERROR, "Can not connect: %s", strerror(errno));
}
uint8_t reason;
bte_params.err = hci_disconnect(bte_params.dd, handle, reason, 25000);
stopBTHost();
It is almost a 1:1 copy from the hcitool (lecc option) source code: http://code.metager.de/source/xref/linux/bluetooth/bluez/tools/hcitool.c#cmd_lecc
I think the crucial information comes from dmesg. Everytime a connection timeout happens, the following error is reported:
[52106.588813] Bluetooth: hci1 hardware error 0x41
[52252.305876] Bluetooth: hci1 hardware error 0x41
[52292.853491] Bluetooth: hci1 hardware error 0x41
[52477.116149] Bluetooth: hci1 hardware error 0x41
Anyone knows where hardware error 0x41 comes from? I get the same results when using hcitool lecc directly:
cehrig-tpgnome parrot-drone-c # hcitool -i hci1 lecc 78:BD:BC:0F:17:D8
Could not create connection: Connection timed out
I'm running Gentoo kernel 4.4.6 with built-in BLE features.
thx in advance
Related
I am building a system that creates a WLAN AP over which the end user can Connect/disconnect the ESP to another AP ( For example a router) by posting a JSON String to a URL. In APSTA mode. When this is done a bool "_STA_START" is set to true. And the login parameters are saved in _STA_WIFI_SSID and _STA_WIFI_PASS.
I encounter a problem when writing the Task that manages the esp as Station. When the vTaskDelay() is called the code in the vTask_Manage_STA_Connection() just stops running. If I delete the statement. The code runs very fast until it casues a stack overflow and resets the esp.
start_Manage_STA_Connection() is called in main.c after I initialise the esp as Access Point.
Right now I see on the monitor that the loop in the vTask_Manage_STA_Connection runs a single time.
Below you can find my Tasks.c and Task.h
Task.h
#ifndef INCLUDE
#define INCLUDE
#include "config.h"
#endif
#ifndef INCLUDE_WLAN_STA
#define INCLUDE_WLAN_STA
#include "WLAN_STA.h"
#endif
// Dimensions the buffer that the task being created will use as its stack.
// NOTE: This is the number of words the stack will hold, not the number of
// bytes. For example, if each stack item is 32-bits, and this is set to 100,
// then 400 bytes (100 * 32-bits) will be allocated.
#define STACK_SIZE 2048
/// #brief Starts a Task to Manage the STA Connection
/// #param pvParameters
void vTask_Manage_STA_Connection( void * pvParameters );
/// #brief Calls vTask_Manage_STA_Connection in main.c
/// #param
void start_Manage_STA_Connection( void );
Tasks.c
#include "Tasks.h"
static const char *TAG_Manage_STA = "Manage STA Connection";
// Task to be created.
void vTask_Manage_STA_Connection(void *pvParameters)
{
for (;;)
{
// Task code goes here.
if (_STA_START == true)
{
ESP_LOGI(TAG_Manage_STA, "Connecting to Station...");
wifi_init_sta(
_STA_WIFI_SSID,
_STA_WIFI_PASS);
_STA_START = false;
}
ESP_LOGI(TAG_Manage_STA, "Managing STA Connection...");
vTaskDelay(100/portTICK_PERIOD_MS);
}
}
// Function that creates a task.
void start_Manage_STA_Connection(void)
{
static uint8_t ucParameterToPass;
TaskHandle_t xHandle = NULL;
// Create the task pinned to core 0, storing the handle. Note that the passed parameter ucParameterToPass
// must exist for the lifetime of the task, so in this case is declared static. If it was just an
// an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
// the new task attempts to access it.
xTaskCreatePinnedToCore(vTask_Manage_STA_Connection,
"Manage_STA_Connection",
STACK_SIZE,
&ucParameterToPass,
(configMAX_PRIORITIES-1),
&xHandle, 0);
configASSERT(xHandle);
// Use the handle to delete the task.
if (xHandle != NULL)
{
vTaskDelete(xHandle);
}
}
The Monitor Output:
I (0) cpu_start: App cpu up.
I (388) cpu_start: Pro cpu start user code
I (388) cpu_start: cpu freq: 160000000
I (388) cpu_start: Application information:
I (392) cpu_start: Project name: wifi_softAP
I (398) cpu_start: App version: 1
I (402) cpu_start: Compile time: Dec 5 2022 11:50:36
I (408) cpu_start: ELF file SHA256: 3597702b82953470...
I (414) cpu_start: ESP-IDF: v4.4.2
I (419) heap_init: Initializing. RAM available for dynamic allocation:
I (426) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM
I (432) heap_init: At 3FFB7508 len 00028AF8 (162 KiB): DRAM
I (438) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM
I (445) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM
I (451) heap_init: At 400944E0 len 0000BB20 (46 KiB): IRAM
I (459) spi_flash: detected chip: gd
I (462) spi_flash: flash io: dio
I (467) cpu_start: Starting scheduler on PRO CPU.
I (0) cpu_start: Starting scheduler on APP CPU.
I (559) MAIN: ESP_WIFI_MODE_AP/STA
I (569) WLAN AP: Wifi Loop Started
I (579) wifi:wifi driver task: 3ffc0378, prio:23, stack:6656, core=0
I (579) system_api: Base MAC address is not set
I (579) system_api: read default base MAC address from EFUSE
I (609) wifi:wifi firmware version: eeaa27d
I (609) wifi:wifi certification version: v7.0
I (609) wifi:config NVS flash: enabled
I (609) wifi:config nano formating: disabled
I (609) wifi:Init data frame dynamic rx buffer num: 32
I (619) wifi:Init management frame dynamic rx buffer num: 32
I (619) wifi:Init management short buffer num: 32
I (629) wifi:Init dynamic tx buffer num: 32
I (629) wifi:Init static rx buffer size: 1600
I (629) wifi:Init static rx buffer num: 10
I (639) wifi:Init dynamic rx buffer num: 32
I (639) wifi_init: rx ba win: 6
I (649) wifi_init: tcpip mbox: 32
I (649) wifi_init: udp mbox: 6
I (649) wifi_init: tcp mbox: 6
I (659) wifi_init: tcp tx win: 5744
I (659) wifi_init: tcp rx win: 5744
I (669) wifi_init: tcp mss: 1440
I (669) wifi_init: WiFi IRAM OP enabled
I (669) wifi_init: WiFi RX IRAM OP enabled
I (689) phy_init: phy_version 4670,719f9f6,Feb 18 2021,17:07:07
I (789) wifi:mode : sta (30:ae:a4:80:4e:88) + softAP (30:ae:a4:80:4e:89)
I (789) wifi:enable tsf
I (789) wifi:Total power save buffer number: 16
I (789) wifi:Init max length of beacon: 752/752
I (789) wifi:Init max length of beacon: 752/752
I (799) WLAN AP: Error: Unknown AP Exception
I (799) WLAN AP: wifi_init_softap finished. SSID:myssid password:mypassword channel:4
I (799) WLAN AP: Access point started!
I (819) Manage STA Connection: Managing STA Connection...
I (91529) wifi:new:<1,1>, old:<1,1>, ap:<1,1>, sta:<0,0>, prof:1
I (91529) wifi:station: 1c:bf:ce:ca:79:de join, AID=1, bgn, 40U
I (91549) WLAN AP: station 1c:bf:ce:ca:79:de join, AID=1
I (91559) esp_netif_lwip: DHCP server assigned IP to a station, IP is: 192.168.5.2
I (91559) AP Webserver: Starting webserver
I (91559) AP Webserver: Starting server on port: '80'
I (91569) AP Webserver: Registering URI handlers
W (95189) wifi:<ba-add>idx:2 (ifx:1, 1c:bf:ce:ca:79:de), tid:0, ssn:190, winSize:64
I'm trying a custom image for ARM STM32MP151A on a custom board. On power up nothing happens on the tty port (while using a wrong sd-card leads to a PANIC PC error - hence the port is ok). As far as I understand in the early stages of power up sequence, the ROM code should load the FSBL from the dedicated partition. Because the boot type is "trusted" that partition is filled with the TF-A firmware:
#Opt Id Name Type IP Offset Binary
- 0x01 fsbl1-boot Binary none 0x0 tf-a-stm32mp151a-myproject-mx-trusted.stm32
- 0x03 ssbl-boot Binary none 0x0 u-boot-stm32mp151a-myproject-mx-trusted.stm32
P 0x04 fsbl1 Binary mmc0 0x00004400 tf-a-stm32mp151a-myproject-mx-trusted.stm32
P 0x05 fsbl2 Binary mmc0 0x00044400 tf-a-stm32mp151a-myproject-mx-trusted.stm32
P 0x06 ssbl Binary mmc0 0x00084400 u-boot-stm32mp151a-myproject-mx-trusted.stm32
P 0x21 bootfs System mmc0 0x00284400 st-image-bootfs-openstlinux-eglfs-stm32mp1-myproject.ext4
P 0x22 vendorfs FileSystem mmc0 0x04284400 st-image-vendorfs-openstlinux-eglfs-stm32mp1-myproject.ext4
P 0x23 rootfs FileSystem mmc0 0x05284400 myproject-image-openstlinux-eglfs-stm32mp1-myproject.ext4
P 0x24 userfs FileSystem mmc0 0x4E664400 st-image-userfs-openstlinux-eglfs-stm32mp1-myproject.ext4
The question is: how to debug the very first stages of the boot sequence of an ARM-A7 if there's no output on the tty console port?
I am taking a shot at writing a wrapper for the S1V30120 dectalk text synthesis IC in C language using the ESP IDF. I am running into a problem in the following code.
printf("Hello world!\n");
esp_err_t ret;
spi_device_handle_t spi;
spi_bus_config_t buscfg={
.miso_io_num=PIN_NUM_MISO,
.mosi_io_num=PIN_NUM_MOSI,
.sclk_io_num=PIN_NUM_CLK,
.quadhd_io_num=-1,
.quadwp_io_num=-1
};
spi_device_interface_config_t devcfg={
.clock_speed_hz=750000,
.mode=0,
.spics_io_num=PIN_NUM_CS,
.queue_size=7
};
ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
assert(ret==ESP_OK);
ret=spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
uint8_t rec[20];
assert(ret==ESP_OK);
uint8_t cmd[] = {0xAA, 0x04, 0x00, 0x05, 0x00}; // get information command
printf("waiting for rdy");
while (gpio_get_level(PIN_NUM_RDY) == 0){};
//create 2 transactions 1 for transmitting the GET INFORMATION command
//and 1 for getting the data back from the ic
spi_transaction_t t;
spi_transaction_t r;
memset(&t, 0, sizeof(t));
t.length=5*8;
t.tx_buffer=&cmd;
r.length=20*8;
r.rx_buffer=&rec;
ret = spi_device_transmit(spi, &t);
assert( ret == ESP_OK);
ret = spi_device_transmit(spi, &r);
assert(ret == ESP_OK);
printf((char*)r.rx_data);
/* Print chip information */
printf("Restarting now.\n");
I'm pretty sure connection should be in full duplex mode and I believe that is set up correctly. the information coming back should be 20 bytes but I am getting the error
rxdata transfer > 32 bits without configured DMA
at the moment I am following 2 pieces of code that may help.
an example of using SPI in the esp idf:
https://github.com/espressif/esp-idf/blob/3276a1316f66a923ee2e75b9bd5c7f1006d160f5/examples/peripherals/spi_master/main/spi_master_example_main.c
an example of using the dectalk ic in Arduino ide:
https://electronza.com/arduino-due-s1v30120-text-speech-code/2/
the dectalk ic protocol sheet:
https://github.com/MikroElektronika/Click_TextToSpeech_S1V30120/blob/master/datasheet/S1V30120%20Protocol%20Specification.pdf
and the SPI documentation for the esp idf:
https://gitdemo.readthedocs.io/en/latest/api/peripherals/spi_master.html
the protocol sheet also says something about sending 16 bytes of 0x00 after a transaction I've never seen that before though.
I hope I was thorough enough with all this information and I thank anyone in advance who can help!
You have used "1" for DMA in the line
ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
But as mentioned in the docs, the DMA needs to be configured.
For external PSRAM available on these boards that means something like
pvPortMallocCaps(20, MALLOC_CAP_DMA)
Without DMA only 32 bits data are possible per transaction.
I'm writing a device-side USB driver that uses the USB module on a Freescale Kinetis K20 ARM Cortex-M4 processor. On the host side I am running Arch on an x64 processor.
The issue I am having is that I cannot seem to get linux to read the descriptor of my device. My device has one configuration with one interface and no endpoints (just the control). My device descriptor looks like so:
typedef struct {
uint8_t bLength;
uint8_t bDescriptorType;
uint16_t bcdUSB;
uint8_t bDeviceClass;
uint8_t bDeviceSubClass;
uint8_t bDeviceProtocol;
uint8_t bMaxPacketSize0;
uint16_t idVendor;
uint16_t idProduct;
uint16_t bcdDevice;
uint8_t iManufacturer;
uint8_t iProduct;
uint8_t iSerialNumber;
uint8_t bNumConfigurations;
} dev_descriptor_t;
static const dev_descriptor_t dev_descriptor = {
.bLength = 18,
.bDescriptorType = 1,
.bcdUSB = 0x0100,
.bDeviceClass = 0xff,
.bDeviceSubClass = 0x0,
.bDeviceProtocol = 0x0,
.bMaxPacketSize0 = ENDP0_SIZE,
.idVendor = 0x16c0,
.idProduct = 0x05dc,
.bcdDevice = 0x0001,
.iManufacturer = 0,
.iProduct = 0,
.iSerialNumber = 0,
.bNumConfigurations = 1
};
Assuming the processor reads the bytes starting at bLength I would think this descriptor would work (I have corresponding configuration and interface descriptors, but it isn't even getting that far).
The errors I get is as follows:
usb 4-1.4: device descriptor read/64, error 18
...repeated 4 times
usb 4-1.4: device descriptor read/8, error -75
..repeated 4 times
usb 4-1-port4: unable to enumerate USB device
I've managed to find a list of error codes and -75 is EOVERFLOW which makes sense since my descriptor wouldn't fit inside an 8 byte read. The one that really confuses me is error 18.
My Question:
What is error 18 and what causes it?
Just to be clear: My question isn't about getting the USB module to work on a Kinetis microcontroller (although any hints and experience would be appreciated)...its about finding out what this error code means and diagnosing the problem that causes it.
Error -18 (note the negative) is EXDEV (Cross-link device) which makes no sense to me because I don't know what it means.
Note 1
I know that there isn't a hardware issue with the USB module since the microcontroller is part of a Teensy 3.1 board and I have used its USB module in past projects, but using the provided driver that comes with the accompanying Teensyduino library. I'm writing my own to understand the module better.
Note 2
If its helpful to know, the microcontroller is receiving the command to be assigned an address and seems to respond correctly (i.e. no "not accepting address" errors in my log...I already worked through those). Other than that and the get descriptor command, it doesn't seem to be receiving any additional commands.
18 is not an error here. Note it is a positive number, while all the error codes are converted to negative numbers in Linux kernel.
Here, 18 is the return value of usb_control_msg(), which returns the length of the device descriptor if success. So it's the bLength field in your device descriptor, which is 18.
The problem lies in the bMaxPacketSize0 field. I don't know what ENDP0_SIZE is, but usb core only accepts following values: 8, 16, 32, 64, 255. If it does not match, the usb_control_msg() is considered failure and report error.
Check hub_port_init() in drivers/usb/core/hub.c. The code flow should be clear.
I wrote a program to send 1460 byte data using TCP client and server continuously. My system interface MTU is 1500.
Here is my program of client
if((sockfd = socket(AF_INET, SOCK_STREAM, 0))< 0)
{
printf("\n Error : Could not create socket \n");
return 1;
}
setsockopt(sockfd,SOL_TCP,TCP_NODELAY,&one,sizeof(one));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(9998);
serv_addr.sin_addr.s_addr = inet_addr("10.10.12.1");
if(connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr))<0)
{
printf("\n Error : Connect Failed \n");
return 1;
}
while(1)
{
write(sockfd, send_buff, 1448) ;
}
In wireshark initial 15 to 30 packets are showing that 1514 byte of packet is going but afterwards showing as below
wireshark output of some packet
No. Time Source Destination Protocol Length Info
16 0.000000 10.10.12.2 10.10.12.1 TCP 5858 53649 > distinct32 [ACK] Seq=3086892290 Ack=250285353 Win=14608 Len=5792 TSval=23114307 TSecr=23833274
Frame 16: 5858 bytes on wire (46864 bits), 5858 bytes captured (46864 bits)
Ethernet II, Src: 6c:3b:e5:14:9a:a2 (6c:3b:e5:14:9a:a2), Dst: Ibm_b5:86:85 (00:1a:64:b5:86:85)
Internet Protocol Version 4, Src: 10.10.12.2 (10.10.12.2), Dst: 10.10.12.1 (10.10.12.1)
Version: 4
Header length: 20 bytes
Differentiated Services Field: 0x00 (DSCP 0x00: Default; ECN: 0x00: Not-ECT (Not ECN-Capable Transport))
Total Length: 5844
Identification: 0x8480 (33920)
Flags: 0x00
Fragment offset: 0
Time to live: 64
Protocol: TCP (6)
Header checksum: 0xb38d [correct]
Source: 10.10.12.2 (10.10.12.2)
Destination: 10.10.12.1 (10.10.12.1)
Transmission Control Protocol, Src Port: 53649 (53649), Dst Port: distinct32 (9998), Seq: 3086892290, Ack: 250285353, Len: 5792
Source port: 53649 (53649)
Destination port: distinct32 (9998)
[Stream index: 0]
Sequence number: 3086892290
[Next sequence number: 3086898082]
Acknowledgement number: 250285353
Header length: 32 bytes
Flags: 0x010 (ACK)
Window size value: 913
[Calculated window size: 14608]
[Window size scaling factor: 16]
Checksum: 0x42dd [validation disabled]
Options: (12 bytes)
No-Operation (NOP)
No-Operation (NOP)
Timestamps: TSval 23114307, TSecr 23833274
Data (5792 bytes)
On wireshark it is showing that more than 5792, 7000, 65535 byte of packet are going.
But i am sending 1514 byte of packet in one go. on other side i am receiving 1514 byte of packets only due to network mtu.
So my question is
why this much of huge packets are going ?
I tried without NODELAY option also but it is not working.
Is there any solution to send particular packet size (such as 1514 byte) can be send, no jumbo frames ?
I update my tcp_rmem and tcp_wmem also for tcp sending buffer and receiving buffer also. But did not found any solution.
TCP, by design, bundles up multiple write() calls into larger packets. Also, TCP coalesces packets by default according to Nagle's Algorithm.
If you want more control over the actual size of network packets, use UDP.
These are "jumbo frames", and they're faster than traditional frame sizes because they don't load up a CPU as much.
Consider yourself fortunate that you're getting them without futzing around with your IP stack's settings.
I searched a lot and found that, we need to change some parameter on interface.
On my interface eth0 default option are
Offload parameters for eth0:
rx-checksumming: on
tx-checksumming: on
scatter-gather: on
tcp-segmentation-offload: on
udp-fragmentation-offload: off
generic-segmentation-offload: on
generic-receive-offload: on
large-receive-offload: off
rx-vlan-offload: on
tx-vlan-offload: on
ntuple-filters: off
receive-hashing: off
now using ethtool we need to off some sending side segementation offload.
For that
sudo ethtool -K eth0 tso off gso off
using this
Offload parameters for eth0:
rx-checksumming: on
tx-checksumming: on
scatter-gather: on
tcp-segmentation-offload: off
udp-fragmentation-offload: off
generic-segmentation-offload: off
generic-receive-offload: on
large-receive-offload: off
rx-vlan-offload: on
tx-vlan-offload: on
ntuple-filters: off
receive-hashing: off
After this your interface will send packets whatever you want to send.