これの続きを使ってpublisher,subscriberサンプルをultra96上で動作させます。
手順は以下の通り。
1.Superfloreを利用してレシピのお手本を生成する。
2.サンプルの取得
対象は書籍でサンプルとして公開されているhttps://github.com/youtalk/get-started-ros2とします。ros2の使い方は書かないので本や記事等を参考にどうぞ。
$ cd <path-to-work-dir> $ git clone https://github.com/youtalk/get-started-ros2
3.動作確認
以下に従い動作を確認します。
$ cd get-started-ros2/ros2 $ source <path-to-ros2-distro>/setup.sh
$ colcon build
$ source install/setup.sh
$ ros2 run hello_world listener &
$ ros2 run hello_world talker
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
4.パッケージ単位でgitリポジトリ化する
パッケージ単位でyoctoのレシピ作成するので、パッケージ単位でリポジトリ化しただけです。yoctoで使用可能なfile等によって保存箇所を指定する等の方法を用いても問題ないはずです。
navigation2のパッケージを確認するとbranchでパッケージ毎のリリース管理を行っているようですね。(bloom使うとこうなるのかどうかは調べていない。今度調べる。)
$ cd <path-to-work-dir>
$ mkdir my_hello_world
$ cd my_hello_world
$ cp -rf ../get-started-ros2/ros2/hello_world .
$ cp -rf ../get-started-ros2/ros2/hello_world_msgs .
$ cd hello_world
$ git init
$ git add .
$ git commit -m "test"
$ git log #<hash1>をメモ
$ cd ../hello_world_msgs
$ git init
$ git add .
$ git commit -m "test"
$ git log #<hash2>をメモ
5.レシピを作成
$ cd <path-to-petalinux-project-dir>/project-spec/meta-user/recipes-apps
$ mkdir ros2_helloworld
$ cd ros2_helloworld
$ cp <path-to-meta-ros>/meta-ros2-dashing/generated-recipes/navigation2/nav2-msgs_0.2.6-1.bb ./hello-world.bb
$ cp hello-world.bb hello-world-msgs.bb
それぞれのファイルは以下の通り編集する。BUILD_DEPENDS等はpackage.xmlと揃えておけば問題ないと思われます。また、ROS_BUILDTOOL_DEPENDSは末尾に"-native"を付与しておかないとうまく動作しませんでした。
# hello_world.bb
inherit ros_distro_dashing
inherit ros_superflore_generated
DESCRIPTION = "ROS2 helloworld"
AUTHOR = "Akira Nishiyama <mr081677@gmaix.com>"
HOMEPAGE = "http://mtwestsun.blogspot.com"
SECTION = "devel"
LICENSE = "Apache-2.0"
LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/Apache-2.0;md5=89aea4e17d99a7cacdbeed46a0096b10"
ROS_CN = "hello_world"
ROS_BPN = "hello_world"
ROS_BUILD_DEPENDS = "rclcpp rclcpp-components hello-world-msgs"
ROS_BUILDTOOL_DEPENDS = " \
ament-cmake-native \
"
ROS_EXPORT_DEPENDS = ""
ROS_BUILDTOOL_EXPORT_DEPENDS = ""
ROS_EXEC_DEPENDS = "rclcpp rclcpp-components hello-world-msgs launch-ros"
# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
ROS_TEST_DEPENDS = " \
ament-cmake-gtest \
ament-cmake-pytest \
ament-lint-auto \
ament-lint-common \
launch \
launch-testing \
"
DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
# matches with: https://github.com/SteveMacenski/navigation2-release/archive/release/dashing/navigation2/0.2.6-1.tar.gz
#ROS_BRANCH ?= "branch=release/dashing/navigation2"
#SRC_URI = "git://github.com/SteveMacenski/navigation2-release;${ROS_BRANCH};protocol=https"
SRC_URI = "git://<path-to-work-dir>/my_hello_world/hello_world"
SRCREV = "<hash1>"
S = "${WORKDIR}/git"
ROS_BUILD_TYPE = "ament_cmake"
inherit ros_${ROS_BUILD_TYPE}
# hello-world-msg.bb
inherit ros_distro_dashing
inherit ros_superflore_generated
DESCRIPTION = "ROS2 helloworld" AUTHOR = "Akira Nishiyama <mr081677@gmaix.com>" HOMEPAGE = "http://mtwestsun.blogspot.com" SECTION = "devel" LICENSE = "Apache-2.0" LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/Apache-2.0;md5=89aea4e17d99a7cacdbeed46a0096b10"
ROS_CN = "hello_world"
ROS_BPN = "hello_world_msgs"
ROS_BUILD_DEPENDS = " \
action-msgs \
std-msgs \
"
ROS_BUILDTOOL_DEPENDS = " \
ament-cmake-native \
rosidl-default-generators-native \
"
ROS_EXPORT_DEPENDS = ""
ROS_BUILDTOOL_EXPORT_DEPENDS = ""
ROS_EXEC_DEPENDS = " \
action-msgs \
rosidl-default-runtime \
std-msgs \
"
# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
ROS_TEST_DEPENDS = ""
DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
#ROS_BRANCH ?= "branch=release/dashing/navigation2"
#SRC_URI = "git://github.com/SteveMacenski/navigation2-release;${ROS_BRANCH};protocol=https"
SRC_URI = "git://<path-to-work-dir>/my_hello_world/hello_world_msgs"
SRCREV = "<hash2>"
S = "${WORKDIR}/git"
ROS_BUILD_TYPE = "ament_cmake"
inherit ros_${ROS_BUILD_TYPE}
5.bitbake
本当はmeta-userのLAYERDEPENDS設定等しないといけないような気もするけど動作したので放置。
petalinux-user-image.bbのIMAGE_INSTALLにhello-worldを追加し、bitbakeしてください。
$ cd <path-to-petalinux-project>
$ source prepare_bitbake.sh #ug1144のbitbakeアクセスの通り
$ bitbake petalinux-user-image
6.動作確認
出来上がったイメージのQEMUで実行した際のログは以下の通り。
めでたしめでたし。
次はsubscriberからuio経由で外部回路を制御させてみる。
$ make qemuboot
petalinux-boot --qemu --root --u-boot --qemu-args "-net nic -net nic -net nic -net nic,netdev=my_tap0 -netdev tap,ifname=tap0,id=my_tap0 -drive file=myfile/myramdisk/sd.img,if=sd,id=sd0,index=0,format=raw -drive file=myfile/myramdisk/sd.img,if=sd,id=sd1,index=1,format=raw"
INFO: sourcing build tools
INFO: No DTB has been specified, use the default one "/home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/system.dtb".
INFO: No DTB has been specified, use the default one "/home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/system.dtb".
INFO: Starting microblaze QEMU
INFO: Starting the above QEMU command in the background
INFO: qemu-system-microblazeel -M microblaze-fdt -serial mon:stdio -serial /dev/null -display none -kernel /home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/pre-built/linux/images/pmu_rom_qemu_sha3.elf -device loader,file=/home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/pmufw.elf -hw-dtb /home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/zynqmp-qemu-multiarch-pmu.dtb -machine-path /tmp/tmp.hRZ7VQMSxE -device loader,addr=0xfd1a0074,data=0x1011003,data-len=4 -device loader,addr=0xfd1a007C,data=0x1010f03,data-len=4
qemu-system-microblazeel: Failed to connect socket /tmp/tmp.hRZ7VQMSxE/qemu-rport-_pmu@0: No such file or directory
qemu-system-microblazeel: info: QEMU waiting for connection on: disconnected:unix:/tmp/tmp.hRZ7VQMSxE/qemu-rport-_pmu@0,server
INFO: Set QEMU tftp to /home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux
INFO: TCP PORT is free
INFO: Starting aarch64 QEMU
INFO: qemu-system-aarch64 -M arm-generic-fdt -serial /dev/null -serial mon:stdio -serial /dev/null -serial /dev/null -display none -device loader,file=/home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/bl31.elf,cpu-num=0 -device loader,file=/home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/u-boot.elf -gdb tcp::9000 -dtb /home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/system.dtb -hw-dtb /home/akira/work/ultra96v2_oob/ultra96v2_oob/petalinux/images/linux/zynqmp-qemu-multiarch-arm.dtb -machine-path /tmp/tmp.hRZ7VQMSxE -global xlnx,zynqmp-boot.cpu-num=0 -global xlnx,zynqmp-boot.use-pmufw=true -net nic -net nic -net nic -net nic,netdev=my_tap0 -netdev tap,ifname=tap0,id=my_tap0 -drive file=myfile/myramdisk/sd.img,if=sd,id=sd0,index=0,format=raw -drive file=myfile/myramdisk/sd.img,if=sd,id=sd1,index=1,format=raw -m 4G
Executing /etc/qemu-ifup
Bringing up tap0 for bridged mode...
Adding tap0 to br0...
QEMU 2.11.1 monitor - type 'help' for more information
(qemu) audio: Could not init `oss' audio driver
qemu-system-aarch64: warning: vlan 0 is not connected to host network
PMU Firmware 2019.2 Mar 25 2020 13:32:02
PMU_ROM Version: xpbr-v8.1.0-0
NOTICE: ATF running on XCZUUNKN/QEMU v4/RTL0.0 at 0xfffea000
NOTICE: BL31: Secure code at 0x60000000
NOTICE: BL31: Non secure code at 0x10080000
NOTICE: BL31: v2.0(release):xilinx-v2019.1-12-g713dace9
NOTICE: BL31: Built : 01:40:08, Jun 2 2020
PMUFW: v1.1
U-Boot 2019.01 (Jun 05 2020 - 10:08:23 +0000)
Model: Avnet Ultra96 Rev1
Board: Xilinx ZynqMP
DRAM: 2 GiB
EL Level: EL2
Chip ID: unknown
MMC: mmc@ff160000: 0, mmc@ff170000: 1
Loading Environment from FAT... *** Warning - bad CRC, using default environment
In: serial@ff010000
Out: serial@ff010000
Err: serial@ff010000
Model: Avnet Ultra96 Rev1
Board: Xilinx ZynqMP
Bootmode: JTAG_MODE
Reset reason:
Net: ZYNQ GEM: ff0e0000, phyaddr ffffffff, interface gmii
eth0: ethernet@ff0e0000
U-BOOT for ultra96v2-oob-2019_2
Hit any key to stop autoboot: 0
Device: mmc@ff160000
Manufacturer ID: aa
OEM: 5859
Name: QEMU!
Bus Speed: 17361111
Mode : SD Legacy
Rd Block Len: 512
SD version 2.0
High Capacity: Yes
Capacity: 19.5 GiB
Bus Width: 4-bit
Erase Group Size: 512 Bytes
17931120 bytes read in 2714 ms (6.3 MiB/s)
## Loading kernel from FIT Image at 10000000 ...
Using 'conf@system-top.dtb' configuration
Trying 'kernel@1' kernel subimage
Description: Linux kernel
Type: Kernel Image
Compression: uncompressed
Data Start: 0x100000f8
Data Size: 17875456 Bytes = 17 MiB
Architecture: AArch64
OS: Linux
Load Address: 0x00080000
Entry Point: 0x00080000
Hash algo: sha1
Hash value: 23573d0df39a3f0530c9e7f9d1ab2ef551cebf23
Verifying Hash Integrity ... sha1+ OK
## Loading fdt from FIT Image at 10000000 ...
Using 'conf@system-top.dtb' configuration
Trying 'fdt@system-top.dtb' fdt subimage
Description: Flattened Device Tree blob
Type: Flat Device Tree
Compression: uncompressed
Data Start: 0x1110c3fc
Data Size: 53757 Bytes = 52.5 KiB
Architecture: AArch64
Hash algo: sha1
Hash value: a66528d068a418f56a14c41dcc8807fd6e11747b
Verifying Hash Integrity ... sha1+ OK
Booting using the fdt blob at 0x1110c3fc
Loading Kernel Image ... OK
Loading Device Tree to 0000000007fef000, end 0000000007fff1fc ... OK
Starting kernel ...
[ 0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[ 0.000000] Linux version 4.19.0 (oe-user@oe-host) (gcc version 8.2.0 (GCC)) #1 SMP Mon Jun 1 13:51:25 UTC 2020
[ 0.000000] Machine model: Avnet Ultra96 Rev1
[ 0.000000] earlycon: cdns0 at MMIO 0x00000000ff010000 (options '115200n8')
[ 0.000000] bootconsole [cdns0] enabled
[ 0.000000] efi: Getting EFI parameters from FDT:
[ 0.000000] efi: UEFI not found.
[ 0.000000] cma: Reserved 256 MiB at 0x000000006fc00000
[ 0.000000] psci: probing for conduit method from DT.
[ 0.000000] psci: PSCIv1.1 detected in firmware.
[ 0.000000] psci: Using standard PSCI v0.2 function IDs
[ 0.000000] psci: MIGRATE_INFO_TYPE not supported.
[ 0.000000] psci: SMC Calling Convention v1.1
[ 0.000000] random: get_random_bytes called from start_kernel+0x94/0x3f8 with crng_init=0
[ 0.000000] percpu: Embedded 22 pages/cpu @(____ptrval____) s52504 r8192 d29416 u90112
[ 0.000000] Detected VIPT I-cache on CPU0
[ 0.000000] CPU features: enabling workaround for ARM erratum 843419
[ 0.000000] CPU features: enabling workaround for ARM erratum 845719
[ 0.000000] Speculative Store Bypass Disable mitigation not required
[ 0.000000] Built 1 zonelists, mobility grouping on. Total pages: 512771
[ 0.000000] Kernel command line: earlycon console=ttyPS0,115200 clk_ignore_unused root=/dev/mmcblk0p2 rw rootwait uio_pdrv_genirq.of_id=generic-uio
[ 0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes)
[ 0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes)
[ 0.000000] Memory: 1767388K/2079744K available (10620K kernel code, 624K rwdata, 5364K rodata, 832K init, 308K bss, 50212K reserved, 262144K cma-reserved)
[ 0.000000] rcu: Hierarchical RCU implementation.
[ 0.000000] rcu: RCU event tracing is enabled.
[ 0.000000] rcu: RCU restricting CPUs from NR_CPUS=8 to nr_cpu_ids=4.
[ 0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=4
[ 0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[ 0.000000] GIC: Adjusting CPU interface base to 0x00000000f902f000
[ 0.000000] GIC: Using split EOI/Deactivate mode
[ 0.000000] irq-xilinx: /amba_pl@0/interrupt-controller@80020000: num_irq=32, edge=0x0
[ 0.000000] arch_timer: cp15 timer(s) running at 65.00MHz (phys).
[ 0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0xefdb196da, max_idle_ns: 440795204367 ns
[ 0.000226] sched_clock: 56 bits at 65MHz, resolution 15ns, wraps every 2199023255550ns
[ 0.011436] Console: colour dummy device 80x25
[ 0.013663] Calibrating delay loop (skipped), value calculated using timer frequency.. 130.00 BogoMIPS (lpj=260000)
[ 0.014478] pid_max: default: 32768 minimum: 301
[ 0.020409] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes)
[ 0.021065] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes)
[ 0.059922] ASID allocator initialised with 32768 entries
[ 0.061070] rcu: Hierarchical SRCU implementation.
[ 0.065615] EFI services will not be available.
[ 0.068262] smp: Bringing up secondary CPUs ...
[ 0.091681] Detected VIPT I-cache on CPU1
[ 0.093118] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
[ 0.122680] Detected VIPT I-cache on CPU2
[ 0.123096] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
[ 0.140402] Detected VIPT I-cache on CPU3
[ 0.141098] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
[ 0.142057] smp: Brought up 1 node, 4 CPUs
[ 0.144672] SMP: Total of 4 processors activated.
[ 0.145209] CPU features: detected: 32-bit EL0 Support
[ 0.147421] CPU: All CPU(s) started at EL2
[ 0.148309] alternatives: patching kernel code
[ 0.186633] devtmpfs: initialized
[ 0.252060] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[ 0.252913] futex hash table entries: 1024 (order: 4, 65536 bytes)
[ 0.300666] xor: measuring software checksum speed
[ 0.339513] 8regs : 985.000 MB/sec
[ 0.383845] 8regs_prefetch: 980.000 MB/sec
[ 0.427350] 32regs : 958.000 MB/sec
[ 0.469294] 32regs_prefetch: 1093.000 MB/sec
[ 0.469684] xor: using function: 32regs_prefetch (1093.000 MB/sec)
[ 0.470502] pinctrl core: initialized pinctrl subsystem
[ 0.506571] NET: Registered protocol family 16
[ 0.516979] audit: initializing netlink subsys (disabled)
[ 0.525963] audit: type=2000 audit(0.444:1): state=initialized audit_enabled=0 res=1
[ 0.539224] cpuidle: using governor menu
[ 0.547528] vdso: 2 pages (1 code @ (____ptrval____), 1 data @ (____ptrval____))
[ 0.548535] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[ 0.569312] DMA: preallocated 256 KiB pool for atomic allocations
[ 0.793643] HugeTLB registered 2.00 MiB page size, pre-allocated 0 pages
[ 0.877428] raid6: int64x1 gen() 471 MB/s
[ 0.949047] raid6: int64x1 xor() 69 MB/s
[ 1.020235] raid6: int64x2 gen() 635 MB/s
[ 1.091523] raid6: int64x2 xor() 383 MB/s
[ 1.162688] raid6: int64x4 gen() 238 MB/s
[ 1.235989] raid6: int64x4 xor() 457 MB/s
[ 1.307786] raid6: int64x8 gen() 544 MB/s
[ 1.380568] raid6: int64x8 xor() 270 MB/s
[ 1.457095] raid6: neonx1 gen() 441 MB/s
[ 1.531921] raid6: neonx1 xor() 225 MB/s
[ 1.603078] raid6: neonx2 gen() 370 MB/s
[ 1.674293] raid6: neonx2 xor() 203 MB/s
[ 1.745048] raid6: neonx4 gen() 407 MB/s
[ 1.816022] raid6: neonx4 xor() 158 MB/s
[ 1.888932] raid6: neonx8 gen() 414 MB/s
[ 1.959675] raid6: neonx8 xor() 203 MB/s
[ 1.960054] raid6: using algorithm int64x2 gen() 635 MB/s
[ 1.960427] raid6: .... xor() 383 MB/s, rmw enabled
[ 1.960909] raid6: using neon recovery algorithm
[ 1.981309] GPIO IRQ not connected
[ 1.981710] XGpio: gpio@80040000: registered, base is 510
[ 1.983514] GPIO IRQ not connected
[ 1.990309] XGpio: gpio@80040000: dual channel registered, base is 508
[ 1.995324] GPIO IRQ not connected
[ 1.995762] XGpio: gpio@80050000: registered, base is 507
[ 2.002467] GPIO IRQ not connected
[ 2.002987] XGpio: gpio@80060000: registered, base is 506
[ 2.003671] GPIO IRQ not connected
[ 2.006821] XGpio: gpio@80060000: dual channel registered, base is 505
[ 2.027318] SCSI subsystem initialized
[ 2.034689] usbcore: registered new interface driver usbfs
[ 2.036063] usbcore: registered new interface driver hub
[ 2.037595] usbcore: registered new device driver usb
[ 2.039487] media: Linux media interface: v0.10
[ 2.040519] videodev: Linux video capture interface: v2.00
[ 2.041666] pps_core: LinuxPPS API ver. 1 registered
[ 2.042107] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti
[ 2.043157] PTP clock support registered
[ 2.044108] EDAC MC: Ver: 3.0.0
[ 2.057178] zynqmp-ipi-mbox mailbox@ff990400: Probed ZynqMP IPI Mailbox driver.
[ 2.061892] zynqmp-ipi-mbox mailbox@ff90000: Probed ZynqMP IPI Mailbox driver.
[ 2.065780] FPGA manager framework
[ 2.070161] Advanced Linux Sound Architecture Driver Initialized.
[ 2.088054] Bluetooth: Core ver 2.22
[ 2.090111] NET: Registered protocol family 31
[ 2.090521] Bluetooth: HCI device and connection manager initialized
[ 2.091210] Bluetooth: HCI socket layer initialized
[ 2.091698] Bluetooth: L2CAP socket layer initialized
[ 2.092472] Bluetooth: SCO socket layer initialized
[ 2.102999] clocksource: Switched to clocksource arch_sys_counter
[ 2.105095] VFS: Disk quotas dquot_6.6.0
[ 2.105802] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[ 2.196553] NET: Registered protocol family 2
[ 2.213096] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes)
[ 2.214115] TCP established hash table entries: 16384 (order: 5, 131072 bytes)
[ 2.215876] TCP bind hash table entries: 16384 (order: 6, 262144 bytes)
[ 2.218820] TCP: Hash tables configured (established 16384 bind 16384)
[ 2.223751] UDP hash table entries: 1024 (order: 3, 32768 bytes)
[ 2.224807] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes)
[ 2.228275] NET: Registered protocol family 1
[ 2.237523] RPC: Registered named UNIX socket transport module.
[ 2.239246] RPC: Registered udp transport module.
[ 2.239727] RPC: Registered tcp transport module.
[ 2.240206] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 2.261390] hw perfevents: no interrupt-affinity property for /pmu, guessing.
[ 2.268272] hw perfevents: enabled with armv8_pmuv3 PMU driver, 1 counters available
[ 2.281960] Initialise system trusted keyrings
[ 2.286488] workingset: timestamp_bits=62 max_order=19 bucket_order=0
[ 2.305316] NFS: Registering the id_resolver key type
[ 2.306085] Key type id_resolver registered
[ 2.306433] Key type id_legacy registered
[ 2.307790] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[ 2.309026] jffs2: version 2.2. (NAND) © 2001-2006 Red Hat, Inc.
[ 6.555438] NET: Registered protocol family 38
[ 6.797060] Key type asymmetric registered
[ 6.798752] Asymmetric key parser 'x509' registered
[ 6.800016] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 247)
[ 6.801611] io scheduler noop registered
[ 6.801914] io scheduler deadline registered
[ 6.802322] io scheduler cfq registered (default)
[ 6.802623] io scheduler mq-deadline registered
[ 6.803400] io scheduler kyber registered
[ 7.321410] Serial: 8250/16550 driver, 4 ports, IRQ sharing disabled
[ 7.368310] 80010000.serial: ttyS3 at MMIO 0x80011000 (irq = 84, base_baud = 4687500) is a 16550A
[ 7.376797] 80030000.serial: ttyS1 at MMIO 0x80031000 (irq = 85, base_baud = 4687500) is a 16550A
[ 7.537369] brd: module loaded
[ 7.600943] loop: module loaded
[ 7.617165] mtdoops: mtd device (mtddev=name/number) must be supplied
[ 7.644140] libphy: Fixed MDIO Bus: probed
[ 7.672608] tun: Universal TUN/TAP device driver, 1.6
[ 7.695610] CAN device driver interface
[ 7.708410] usbcore: registered new interface driver asix
[ 7.710362] usbcore: registered new interface driver ax88179_178a
[ 7.711718] usbcore: registered new interface driver cdc_ether
[ 7.712642] usbcore: registered new interface driver net1080
[ 7.713504] usbcore: registered new interface driver cdc_subset
[ 7.714321] usbcore: registered new interface driver zaurus
[ 7.715863] usbcore: registered new interface driver cdc_ncm
[ 7.734389] usbcore: registered new interface driver uas
[ 7.738599] usbcore: registered new interface driver usb-storage
[ 7.756797] rtc_zynqmp ffa60000.rtc: rtc core: registered ffa60000.rtc as rtc0
[ 7.760086] i2c /dev entries driver
[ 7.794560] usbcore: registered new interface driver uvcvideo
[ 7.795552] USB Video Class driver (1.1.1)
[ 7.809335] Bluetooth: HCI UART driver ver 2.3
[ 7.810010] Bluetooth: HCI UART protocol H4 registered
[ 7.810372] Bluetooth: HCI UART protocol BCSP registered
[ 7.811357] Bluetooth: HCI UART protocol LL registered
[ 7.811753] Bluetooth: HCI UART protocol ATH3K registered
[ 7.813363] Bluetooth: HCI UART protocol Three-wire (H5) registered
[ 7.815413] Bluetooth: HCI UART protocol Intel registered
[ 7.817260] Bluetooth: HCI UART protocol QCA registered
[ 7.818296] usbcore: registered new interface driver bcm203x
[ 7.820252] usbcore: registered new interface driver bpa10x
[ 7.821937] usbcore: registered new interface driver bfusb
[ 7.823364] usbcore: registered new interface driver btusb
[ 7.823991] Bluetooth: Generic Bluetooth SDIO driver ver 0.1
[ 7.825196] usbcore: registered new interface driver ath3k
[ 7.827725] EDAC MC: ECC not enabled
[ 7.830022] EDAC ZynqMP-OCM: ECC not enabled - Disabling EDAC driver
[ 7.852833] sdhci: Secure Digital Host Controller Interface driver
[ 7.853469] sdhci: Copyright(c) Pierre Ossman
[ 7.853890] sdhci-pltfm: SDHCI platform and OF driver helper
[ 7.863340] ledtrig-cpu: registered to indicate activity on CPUs
[ 7.865152] zynqmp_firmware_probe Platform Management API v1.1
[ 7.865839] zynqmp_firmware_probe Trustzone version v1.0
[ 7.957818] zynqmp-pinctrl firmware:zynqmp-firmware:pinctrl: zynqmp pinctrl initialized
[ 8.556274] zynqmp_clk_mux_get_parent() getparent failed for clock: lpd_wdt, ret = -22
[ 8.565087] alg: No test for xilinx-zynqmp-aes (zynqmp-aes)
[ 8.565803] zynqmp_aes zynqmp_aes: AES Successfully Registered
[ 8.565803]
[ 8.573422] alg: No test for xilinx-keccak-384 (zynqmp-keccak-384)
[ 8.579486] alg: No test for xilinx-zynqmp-rsa (zynqmp-rsa)
[ 8.593351] usbcore: registered new interface driver usbhid
[ 8.595353] usbhid: USB HID core driver
[ 8.660273] fpga_manager fpga0: Xilinx ZynqMP FPGA Manager registered
[ 8.669562] usbcore: registered new interface driver snd-usb-audio
[ 8.693210] pktgen: Packet Generator for packet performance testing. Version: 2.75
[ 8.711485] Initializing XFRM netlink socket
[ 8.712945] NET: Registered protocol family 10
[ 8.729926] Segment Routing with IPv6
[ 8.734334] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
[ 8.745230] NET: Registered protocol family 17
[ 8.746273] NET: Registered protocol family 15
[ 8.748613] bridge: filtering via arp/ip/ip6tables is no longer available by default. Update your scripts to load br_netfilter if you need this.
[ 8.755549] can: controller area network core (rev 20170425 abi 9)
[ 8.757113] NET: Registered protocol family 29
[ 8.757581] can: raw protocol (rev 20170425)
[ 8.757973] can: broadcast manager protocol (rev 20170425 t)
[ 8.758825] can: netlink gateway (rev 20170425) max_hops=1
[ 8.762473] Bluetooth: RFCOMM TTY layer initialized
[ 8.763743] Bluetooth: RFCOMM socket layer initialized
[ 8.765009] Bluetooth: RFCOMM ver 1.11
[ 8.767666] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 8.768171] Bluetooth: BNEP filters: protocol multicast
[ 8.768732] Bluetooth: BNEP socket layer initialized
[ 8.769283] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
[ 8.771430] Bluetooth: HIDP socket layer initialized
[ 8.775838] 9pnet: Installing 9P2000 support
[ 8.776708] Key type dns_resolver registered
[ 8.784690] registered taskstats version 1
[ 8.785170] Loading compiled-in X.509 certificates
[ 8.792487] Btrfs loaded, crc32c=crc32c-generic
[ 8.870027] ff000000.serial: ttyPS2 at MMIO 0xff000000 (irq = 42, base_baud = 10416666) is a xuartps
[ 8.883325] ff010000.serial: ttyPS0 at MMIO 0xff010000 (irq = 43, base_baud = 2480158) is a xuartps
[ 8.886617] console [ttyPS0] enabled
[ 8.886617] console [ttyPS0] enabled
[ 8.891606] bootconsole [cdns0] disabled
[ 8.891606] bootconsole [cdns0] disabled
[ 8.908709] of-fpga-region fpga-full: FPGA Region probed
[ 8.931214] xilinx-dpdma fd4c0000.dma: Xilinx DPDMA engine is probed
[ 8.945376] xilinx-zynqmp-dma fd500000.dma: ZynqMP DMA driver Probe success
[ 8.948978] xilinx-zynqmp-dma fd510000.dma: ZynqMP DMA driver Probe success
[ 8.953258] xilinx-zynqmp-dma fd520000.dma: ZynqMP DMA driver Probe success
[ 8.956239] xilinx-zynqmp-dma fd530000.dma: ZynqMP DMA driver Probe success
[ 8.959454] xilinx-zynqmp-dma fd540000.dma: ZynqMP DMA driver Probe success
[ 8.962284] xilinx-zynqmp-dma fd550000.dma: ZynqMP DMA driver Probe success
[ 8.965982] xilinx-zynqmp-dma fd560000.dma: ZynqMP DMA driver Probe success
[ 8.971481] xilinx-zynqmp-dma fd570000.dma: ZynqMP DMA driver Probe success
[ 8.979101] xilinx-zynqmp-dma ffa80000.dma: ZynqMP DMA driver Probe success
[ 8.981683] xilinx-zynqmp-dma ffa90000.dma: ZynqMP DMA driver Probe success
[ 8.989595] xilinx-zynqmp-dma ffaa0000.dma: ZynqMP DMA driver Probe success
[ 8.994271] xilinx-zynqmp-dma ffab0000.dma: ZynqMP DMA driver Probe success
[ 8.999678] xilinx-zynqmp-dma ffac0000.dma: ZynqMP DMA driver Probe success
[ 9.001607] xilinx-zynqmp-dma ffad0000.dma: ZynqMP DMA driver Probe success
[ 9.005630] xilinx-zynqmp-dma ffae0000.dma: ZynqMP DMA driver Probe success
[ 9.009015] xilinx-zynqmp-dma ffaf0000.dma: ZynqMP DMA driver Probe success
[ 9.029169] xilinx-psgtr fd400000.zynqmp_phy: Lane:1 type:8 protocol:4 pll_locked:yes
[ 9.095359] zynqmp_clk_divider_set_rate() set divider failed for ams_ref_div1, ret = -13
[ 9.195585] xilinx-dp-snd-codec fd4a0000.zynqmp-display:zynqmp_dp_snd_codec0: Failed to get required clock freq
[ 9.199111] xilinx-dp-snd-codec: probe of fd4a0000.zynqmp-display:zynqmp_dp_snd_codec0 failed with error -22
[ 9.203738] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm0: Xilinx DisplayPort Sound PCM probed
[ 9.209304] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm1: Xilinx DisplayPort Sound PCM probed
[ 9.218557] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 9.223384] OF: graph: no port node found in /amba/zynqmp-display@fd4a0000
[ 9.235684] [drm] Supports vblank timestamp caching Rev 2 (21.10.2013).
[ 9.236384] [drm] No driver support for vblank timestamp query.
[ 9.246272] xlnx-drm xlnx-drm.0: bound fd4a0000.zynqmp-display (ops 0xffffff8008b9d6b8)
[ 9.474269] Console: switching to colour frame buffer device 128x48
[ 9.511212] zynqmp-display fd4a0000.zynqmp-display: fb0: frame buffer device
[ 9.517699] [drm] Initialized xlnx 1.0.0 20130509 for fd4a0000.zynqmp-display on minor 0
[ 9.520228] zynqmp-display fd4a0000.zynqmp-display: ZynqMP DisplayPort Subsystem driver probed
[ 9.524593] zynqmp_gpd_attach_dev() domain6 request failed for node 35: -13
[ 9.525570] cdns-spi ff040000.spi: failed to add to PM domain domain6: -13
[ 9.526435] cdns-spi: probe of ff040000.spi failed with error -13
[ 9.529822] zynqmp_gpd_attach_dev() domain7 request failed for node 36: -13
[ 9.531127] cdns-spi ff050000.spi: failed to add to PM domain domain7: -13
[ 9.532102] cdns-spi: probe of ff050000.spi failed with error -13
[ 9.552583] macb ff0e0000.ethernet: Not enabling partial store and forward
[ 9.553463] macb: GEM doesn't support hardware ptp.
[ 9.565631] libphy: MACB_mii_bus: probed
[ 9.720080] Marvell 88E1111 ff0e0000.ethernet-ffffffff:00: attached PHY driver [Marvell 88E1111] (mii_bus:phy_addr=ff0e0000.ethernet-ffffffff:00, irq=POLL)
[ 9.721785] macb ff0e0000.ethernet eth0: Cadence GEM rev 0x40070106 at 0xff0e0000 irq 30 (00:0a:35:00:22:01)
[ 9.728139] xilinx-axipmon ffa00000.perf-monitor: Probed Xilinx APM
[ 9.733118] xilinx-axipmon fd0b0000.perf-monitor: Probed Xilinx APM
[ 9.739557] xilinx-axipmon fd490000.perf-monitor: Probed Xilinx APM
[ 9.745349] xilinx-axipmon ffa10000.perf-monitor: Probed Xilinx APM
[ 9.785014] dwc3 fe200000.dwc3: Failed to get clk 'ref': -2
[ 9.790499] WARNING: CPU: 1 PID: 38 at include/linux/dma-mapping.h:516 dwc3_alloc_event_buffers+0x138/0x1b8
[ 9.791986] Modules linked in:
[ 9.792624] CPU: 1 PID: 38 Comm: kworker/1:1 Not tainted 4.19.0 #1
[ 9.793094] Hardware name: Avnet Ultra96 Rev1 (DT)
[ 9.794431] Workqueue: events deferred_probe_work_func
[ 9.795313] pstate: 60000005 (nZCv daif -PAN -UAO)
[ 9.795725] pc : dwc3_alloc_event_buffers+0x138/0x1b8
[ 9.796139] lr : dwc3_alloc_event_buffers+0x6c/0x1b8
[ 9.796535] sp : ffffff80092fb6e0
[ 9.796791] x29: ffffff80092fb6e0 x28: 0000000000000000
[ 9.797285] x27: 0000000000000000 x26: 0000000000000000
[ 9.797689] x25: ffffffc06d14c438 x24: 0000000000001000
[ 9.798097] x23: ffffffc06cec1c10 x22: ffffff8008ae7000
[ 9.798776] x21: ffffffc06ce2d018 x20: ffffff80090f8648
[ 9.799274] x19: ffffffc06d14c418 x18: 0000000000000010
[ 9.799678] x17: 0000000000000000 x16: 0000000000000000
[ 9.800145] x15: ffffffffffffffff x14: ffffff80090f8648
[ 9.801111] x13: ffffff80891945cf x12: ffffff80091945d7
[ 9.801494] x11: 0000000000000001 x10: ffffff80091726c0
[ 9.801943] x9 : 0000000000000000 x8 : ffffffc06cef8000
[ 9.802348] x7 : 0000000000000000 x6 : 000000000000003f
[ 9.802941] x5 : 0000000000000040 x4 : ffffffc06cec1e98
[ 9.803488] x3 : 0000000000000000 x2 : 0000000000000001
[ 9.803883] x1 : ffffffc06d14c400 x0 : 0000000000000000
[ 9.804522] Call trace:
[ 9.804857] dwc3_alloc_event_buffers+0x138/0x1b8
[ 9.805333] dwc3_probe+0x7b4/0xbb0
[ 9.805746] platform_drv_probe+0x50/0xa0
[ 9.806048] really_probe+0x1c8/0x280
[ 9.806339] driver_probe_device+0x54/0xe8
[ 9.807460] __device_attach_driver+0xb8/0xe8
[ 9.807867] bus_for_each_drv+0x78/0xc8
[ 9.808179] __device_attach+0xd4/0x130
[ 9.808502] device_initial_probe+0x10/0x18
[ 9.808915] bus_probe_device+0x90/0x98
[ 9.810340] device_add+0x334/0x608
[ 9.811038] of_device_add+0x58/0x68
[ 9.811460] of_platform_device_create_pdata+0xac/0x108
[ 9.812042] of_platform_bus_create+0x294/0x390
[ 9.813191] of_platform_populate+0x74/0xd8
[ 9.813731] dwc3_of_simple_probe+0x3fc/0x528
[ 9.817692] platform_drv_probe+0x50/0xa0
[ 9.818696] really_probe+0x1c8/0x280
[ 9.819245] driver_probe_device+0x54/0xe8
[ 9.820069] __device_attach_driver+0xb8/0xe8
[ 9.820424] bus_for_each_drv+0x78/0xc8
[ 9.820720] __device_attach+0xd4/0x130
[ 9.821285] device_initial_probe+0x10/0x18
[ 9.821746] bus_probe_device+0x90/0x98
[ 9.822090] deferred_probe_work_func+0x6c/0xa0
[ 9.822368] process_one_work+0x1e4/0x340
[ 9.822607] worker_thread+0x248/0x488
[ 9.823547] kthread+0x124/0x128
[ 9.823927] ret_from_fork+0x10/0x18
[ 9.824500] ---[ end trace c9727e12cc5fc9ec ]---
[ 9.833639] dwc3 fe200000.dwc3: swiotlb: coherent allocation failed, size=4096
[ 9.834533] CPU: 1 PID: 38 Comm: kworker/1:1 Tainted: G W 4.19.0 #1
[ 9.835352] Hardware name: Avnet Ultra96 Rev1 (DT)
[ 9.835815] Workqueue: events deferred_probe_work_func
[ 9.836225] Call trace:
[ 9.836415] dump_backtrace+0x0/0x148
[ 9.836688] show_stack+0x14/0x20
[ 9.836839] dump_stack+0x90/0xb4
[ 9.836986] swiotlb_alloc+0x160/0x168
[ 9.837166] __dma_alloc+0xa8/0x1e0
[ 9.837327] dwc3_alloc_event_buffers+0xd0/0x1b8
[ 9.837525] dwc3_probe+0x7b4/0xbb0
[ 9.837683] platform_drv_probe+0x50/0xa0
[ 9.837858] really_probe+0x1c8/0x280
[ 9.838053] driver_probe_device+0x54/0xe8
[ 9.838298] __device_attach_driver+0xb8/0xe8
[ 9.838553] bus_for_each_drv+0x78/0xc8
[ 9.838844] __device_attach+0xd4/0x130
[ 9.839107] device_initial_probe+0x10/0x18
[ 9.839511] bus_probe_device+0x90/0x98
[ 9.839953] device_add+0x334/0x608
[ 9.840559] of_device_add+0x58/0x68
[ 9.840957] of_platform_device_create_pdata+0xac/0x108
[ 9.841839] of_platform_bus_create+0x294/0x390
[ 9.842329] of_platform_populate+0x74/0xd8
[ 9.843005] dwc3_of_simple_probe+0x3fc/0x528
[ 9.843512] platform_drv_probe+0x50/0xa0
[ 9.845004] really_probe+0x1c8/0x280
[ 9.846598] driver_probe_device+0x54/0xe8
[ 9.847556] __device_attach_driver+0xb8/0xe8
[ 9.848601] bus_for_each_drv+0x78/0xc8
[ 9.848969] __device_attach+0xd4/0x130
[ 9.849335] device_initial_probe+0x10/0x18
[ 9.849686] bus_probe_device+0x90/0x98
[ 9.849924] deferred_probe_work_func+0x6c/0xa0
[ 9.850170] process_one_work+0x1e4/0x340
[ 9.850388] worker_thread+0x248/0x488
[ 9.850610] kthread+0x124/0x128
[ 9.850935] ret_from_fork+0x10/0x18
[ 9.851436] dwc3 fe200000.dwc3: can't allocate event buffer
[ 9.851827] dwc3 fe200000.dwc3: failed to allocate event buffers
[ 9.853628] dwc3: probe of fe200000.dwc3 failed with error -12
[ 9.858080] zynqmp_gpd_attach_dev() domain10 request failed for node 23: -13
[ 9.858492] dwc3-of-simple ff9e0000.usb1: failed to add to PM domain domain10: -13
[ 9.858926] dwc3-of-simple: probe of ff9e0000.usb1 failed with error -13
[ 9.899651] pca954x 0-0075: probe failed
[ 9.900828] i2c i2c-0: Failed to register i2c client pca9548 at 0x75 (-16)
[ 9.901402] i2c i2c-0: of_i2c: Failure registering /amba/i2c@ff030000/i2cswitch@75
[ 9.902004] i2c i2c-0: Failed to create I2C device for /amba/i2c@ff030000/i2cswitch@75
[ 9.903138] cdns-i2c ff030000.i2c: 100 kHz mmio ff030000 irq 32
[ 9.913300] cdns-wdt fd4d0000.watchdog: Xilinx Watchdog Timer with timeout 60s
[ 9.919137] cdns-wdt ff150000.watchdog: Xilinx Watchdog Timer with timeout 10s
[ 9.932895] cpufreq: cpufreq_online: CPU0: Running at unlisted freq: 277777 KHz
[ 9.938565] cpufreq: cpufreq_online: CPU0: Unlisted initial frequency changed to: 299999 KHz
[ 9.955866] zynqmp_gpd_attach_dev() domain12 request failed for node 39: -13
[ 9.956521] sdhci-arasan ff160000.mmc: failed to add to PM domain domain12: -13
[ 9.957115] sdhci-arasan: probe of ff160000.mmc failed with error -13
[ 9.972905] sdhci-arasan ff170000.mmc: allocated mmc-pwrseq
[ 9.976338] sdhci-arasan ff170000.mmc: Linked as a consumer to regulator.1
[ 10.023395] mmc0: SDHCI controller on ff170000.mmc [ff170000.mmc] using ADMA 64-bit
[ 10.048154] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 10.057574] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 10.088127] input: gpio-keys as /devices/platform/gpio-keys/input/input0
[ 10.101076] rtc_zynqmp ffa60000.rtc: setting system clock to 2020-06-05 13:34:32 UTC (1591364072)
[ 10.102236] of_cfs_init
[ 10.105405] of_cfs_init: OK
[ 10.106427] cfg80211: Loading compiled-in X.509 certificates for regulatory database
[ 10.115220] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 10.134157] mmc0: Problem switching card into high-speed mode!
[ 10.136072] mmc0: new SDHC card at address 4567
[ 10.144558] mmcblk0: mmc0:4567 QEMU! 19.5 GiB
[ 10.171103] mmcblk0: p1 p2
[ 10.183822] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 10.656803] cfg80211: Loaded X.509 cert 'sforshee: 00b28ddf47aef9cea7'
[ 10.657643] clk: Not disabling unused clocks
[ 10.658223] ALSA device list:
[ 10.658526] No soundcards found.
[ 10.668827] platform regulatory.0: Direct firmware load for regulatory.db failed with error -2
[ 10.672876] cfg80211: failed to load regulatory.db
[ 10.768587] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[ 10.769697] VFS: Mounted root (ext4 filesystem) on device 179:2.
[ 10.791751] devtmpfs: mounted
[ 10.888023] Freeing unused kernel memory: 832K
[ 10.920274] Run /sbin/init as init process
INIT: version 2.88 booting
[ 12.733379] random: fast init done
Starting udev
[ 14.629052] udevd[1807]: starting version 3.2.5
[ 14.692496] random: udevd: uninitialized urandom read (16 bytes read)
[ 14.700365] random: udevd: uninitialized urandom read (16 bytes read)
[ 14.708102] random: udevd: uninitialized urandom read (16 bytes read)
[ 15.156178] udevd[1808]: starting eudev-3.2.5
[ 15.740370] urandom_read: 2 callbacks suppressed
[ 15.740611] random: udevd: uninitialized urandom read (16 bytes read)
[ 15.741860] random: udevd: uninitialized urandom read (16 bytes read)
[ 15.746518] random: udevd: uninitialized urandom read (16 bytes read)
[ 16.192436] zocl: loading out-of-tree module taints kernel.
[ 16.225028] [drm] Probing for xlnx,zocl
[ 16.228841] [drm] FPGA programming device pcap founded.
[ 16.229570] [drm] PR Isolation addr 0x0
[ 16.266810] [drm] Initialized zocl 2018.2.1 20180313 for amba:zyxclmm_drm on minor 1
[ 16.295312] xilinx-dp-snd-card fd4a0000.zynqmp-display:zynqmp_dp_snd_card: ASoC: CPU DAI (null) not registered
[ 16.980242] zynqmp_r5_remoteproc ff9a0100.zynqmp_r5_rproc: RPU core_conf: split0
[ 16.981021] zynqmp_r5_remoteproc ff9a0100.zynqmp_r5_rproc: Invalid core_conf mode provided - split0 , 0
[ 16.981760] zynqmp_r5_remoteproc: probe of ff9a0100.zynqmp_r5_rproc failed with error -22
[ 17.589093] mali-utgard: probe of fd4b0000.gpu failed with error -14
[ 31.112602] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[ 31.759425] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
Starting Ultra96 AP setup daemon.
INIT: Entering runlevel: 5
Configuring network interfaces... Successfully initialized wpa_supplicant
rfkill: Cannot get wiphy information
Could not read interface wlan0 flags: No such device
WEXT: Could not set interface 'wlan0' UP
wlan0: Failed to initialize driver interface
Cannot find device "wlan0"
[ 45.235972] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
udhcpc: started, v1.29.2
[ 46.328996] macb ff0e0000.ethernet eth0: link up (100/Full)
[ 46.333245] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
udhcpc: sending discover
udhcpc: sending discover
udhcpc: sending select for 10.0.2.49
udhcpc: lease of 10.0.2.49 obtained, lease time 3600
/etc/udhcpc.d/50default: Adding DNS 10.0.2.2
Starting system message bus: dbus.
Starting haveged: haveged: listening socket at 3
haveged: haveged starting up
Starting Xserver
mount: /mnt: /dev/mmcblk0p1 already mounted on /run/media/mmcblk0p1.
mount: /mnt: /dev/mmcblk0 already mounted or mount point busy.
Starting Dropbear SSH server: mount: /mnt: /dev/mmcblk0p1 already mounted on /run/media/mmcblk0p1.
dropbear.
mount: /mnt: /dev/mmcblk0 already mounted or mount point busy.
Starting rpcbind daemon...
done.
X.Org X Server 1.20.1
X Protocol Version 11, Revision 0
Build Operating System: Linux 5.3.0-42-generic x86_64
Current Operating System: Linux ultra96v2-oob-2019_2 4.19.0 #1 SMP Mon Jun 1 13:51:25 UTC 2020 aarch64
Kernel command line: earlycon console=ttyPS0,115200 clk_ignore_unused root=/dev/mmcblk0p2 rw rootwait uio_pdrv_genirq.of_id=generic-uio
Build Date: 24 March 2020 07:53:07PM
Current version of pixman: 0.34.0
Before reporting problems, check http://wiki.x.org
to make sure that you have the latest version.
Markers: (--) probed, (**) from config file, (==) default setting,
(++) from command line, (!!) notice, (II) informational,
(WW) warning, (EE) error, (NI) not implemented, (??) unknown.
(==) Log file: "/var/log/Xorg.0.log", Time: Fri Jun 5 13:35:19 2020
(==) Using config file: "/etc/X11/xorg.conf"
(==) Using system config directory "/usr/share/X11/xorg.conf.d"
haveged: haveged: ver: 1.9.4; arch: generic; vend: ; build: (gcc 8.2.0 CTV); collect: 128K
haveged: haveged: cpu: (VC); data: 16K (D V); inst: 16K (D V); idx: 11/40; sz: 15528/64688
haveged: haveged: tot tests(BA8): A:1/1 B:1/1 continuous tests(B): last entropy estimate 8.00165
haveged: haveged: fills: 0, generated: 0
[ 57.159599] [drm] Pid 2250 opened device
[ 57.168697] [drm] Pid 2250 closed device
[ 57.264686] random: crng init done
[ 57.269028] random: 2 urandom warning(s) missed due to ratelimiting
starting statd: done
Starting bluetooth: The XKEYBOARD keymap compiler (xkbcomp) reports:
> Warning: Unsupported high keycode 372 for name ignored
> X11 cannot support keycodes above 255.
> This warning only shows for the first high keycode.
bluetoothd.
Starting Distributed Compiler Daemon: distccErrors from xkbcomp are not fatal to the X server
/etc/rc5.d/S20distcc: start failed with error code 110
Starting internet superserver: inetd.
exportfs: can't open /etc/exports for reading
NFS daemon support not enabled in kernel
Starting ntpd: done
Starting syslogd/klogd: D-BUS per-session daemon address is: unix:abstract=/tmp/dbus-jhGaeRlEzu,guid=2055157ca40b03733a2ec37a5eda4a1f
done
mount: /mnt: /dev/mmcblk0p1 already mounted on /run/media/mmcblk0p1.
Starting internet superserver: xinetd.
mount: /mnt: /dev/mmcblk0 already mounted or mount point busy.
* Starting Avahi mDNS/DNS-SD Daemon: avahi-daemon
Starting Telephony daemon
Starting watchdog daemon...GLib-GIO-Message: 13:35:32.531: Using the 'memory' GSettings backend. Your settings will not be saved or shared with other applications.
done
Failed to launch bus: Failed to execute child process ?/usr/bin? (Permission denied)Starting Linux NFC daemon
matchbox: Cant find a keycode for keysym 269025056
matchbox: ignoring key shortcut XF86Calendar=!$contacts
matchbox: Cant find a keycode for keysym 2809
matchbox: ignoring key shortcut telephone=!$dates
matchbox: Cant find a keycode for keysym 269025050
matchbox: ignoring key shortcut XF86Start=!matchbox-remote -desktop
[settings daemon] Forking. run with -n to prevent fork
Starting tcf-agent: OK
(matchbox-panel:2411): dbind-WARNING **: 13:35:41.674: Error retrieving accessibility bus address: org.a11y.Bus.Error: Failed to execute child process ?/usr/bin? (Permission denied)
(matchbox-desktop:2409): dbind-WARNING **: 13:35:41.662: Error retrieving accessibility bus address: org.a11y.Bus.Error: Failed to execute child process ?/usr/bin? (Permission denied)
Last login: Fri Jun 5 13:35:41 UTC 2020 on tty1
mount: /mnt: /dev/mmcblk0p1 already mounted on /run/media/mmcblk0p1.
mount: /mnt: /dev/mmcblk0 already mounted or mount point busy.
root@ultra96v2-oob-2019_2:~#
root@ultra96v2-oob-2019_2:~#
root@ultra96v2-oob-2019_2:~# source ros_setup.sh
root@ultra96v2-oob-2019_2:~# ros2 pkg list
action_msgs
actionlib_msgs
ament_cmake
ament_index_cpp
ament_index_python
angles
behaviortree_cpp
builtin_interfaces
cartographer_ros
cartographer_ros_msgs
class_loader
common_interfaces
composition_interfaces
compressed_image_transport
console_bridge_vendor
costmap_queue
cv_bridge
depthimage_to_laserscan
diagnostic_msgs
dwb_controller
dwb_core
dwb_critics
dwb_msgs
dwb_plugins
dynamixel_sdk
geometry_msgs
hello_world
hello_world_msgs
hls_lfcd_lds_driver
image_geometry
image_transport
joy
kdl_parser
laser_geometry
launch
launch_ros
launch_testing
libyaml_vendor
lifecycle_msgs
map_msgs
message_filters
nav2_amcl
nav2_behavior_tree
nav2_bringup
nav2_bt_navigator
nav2_common
nav2_costmap_2d
nav2_dwb_controller
nav2_lifecycle_manager
nav2_map_server
nav2_msgs
nav2_navfn_planner
nav2_recoveries
nav2_util
nav2_voxel_grid
nav2_world_model
nav_2d_msgs
nav_2d_utils
nav_msgs
navigation2
osrf_pycommon
pluginlib
rcl
rcl_action
rcl_interfaces
rcl_lifecycle
rcl_logging_noop
rcl_yaml_param_parser
rclcpp
rclcpp_action
rclcpp_components
rclcpp_lifecycle
rclpy
rcutils
rmw
rmw_fastrtps_cpp
rmw_fastrtps_shared_cpp
rmw_implementation
rmw_implementation_cmake
robot_state_publisher
ros2action
ros2cli
ros2component
ros2launch
ros2lifecycle
ros2msg
ros2multicast
ros2node
ros2param
ros2pkg
ros2run
ros2service
ros2srv
ros2topic
ros_base
ros_core
ros_environment
ros_workspace
rosgraph_msgs
rosidl_default_generators
rosidl_default_runtime
rosidl_generator_c
rosidl_generator_py
rosidl_parser
rosidl_runtime_py
rosidl_typesupport_cpp
rosidl_typesupport_fastrtps_c
rosidl_typesupport_fastrtps_cpp
rosidl_typesupport_interface
rosidl_typesupport_introspection_c
rosidl_typesupport_introspection_cpp
sensor_msgs
shape_msgs
sros2
sros2_cmake
std_msgs
std_srvs
stereo_msgs
teleop_twist_joy
teleop_twist_keyboard
test_msgs
tf2
tf2_eigen
tf2_geometry_msgs
tf2_kdl
tf2_msgs
tf2_ros
tf2_sensor_msgs
trajectory_msgs
turtlebot3
turtlebot3_bringup
turtlebot3_cartographer
turtlebot3_description
turtlebot3_msgs
turtlebot3_navigation2
turtlebot3_node
turtlebot3_teleop
unique_identifier_msgs
urdf
visualization_msgs
yaml_cpp_vendor
root@ultra96v2-oob-2019_2:~# (sleep 5; ros2 run hello_world talker) &
[1] 4172
root@ultra96v2-oob-2019_2:~# ros2 run hello_world listener
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
[INFO] [talker]: Hello world!
[INFO] [listener]: Hello world!
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