Adding the cp210x module to the NAO kernel

Adding the cp210x module to the NAO kernel

[Ankur Sinha]

Hi folks,

I'm using the NAO[1] for my research. It uses a linux 2.6.29.6-rt24
kernel[2] which they seem to have customized to their needs. I need to
use a NavChip[3] IMU(inertial measurement unit) with the NAO. The
NavChip works out of the box with my Fedora 17
kernel(3.5.1-1.fc17.x86_64). This is what dmesg says when I plug it in:

> [71406.521154] usb 2-1.5: new full-speed USB device number 6 using ehci_hcd
> [71406.607360] usb 2-1.5: New USB device found, idVendor=10c4, idProduct=ea60
> [71406.607367] usb 2-1.5: New USB device strings: Mfr=1, Product=2, SerialNumber=3
> [71406.607372] usb 2-1.5: Product: CP2102 USB to UART Bridge Controller
> [71406.607376] usb 2-1.5: Manufacturer: Silicon Labs
> [71406.607379] usb 2-1.5: SerialNumber: 0001
> [71406.772438] usbcore: registered new interface driver cp210x
> [71406.772468] USB Serial support registered for cp210x
> [71406.772513] cp210x 2-1.5:1.0: cp210x converter detected
> [71406.845220] usb 2-1.5: reset full-speed USB device number 6 using ehci_hcd
> [71406.931690] usb 2-1.5: cp210x converter now attached to ttyUSB0
> [ankur at ankur 2.6.29.6-rt24-aldebaran-rt]$

However, when I plug it into the NAO, it isn't detected. I looked up,
and the kernel they use doesn't seem to have the cp210x module that is
required for the NavChip (I think?). 

The NavChip's processor is an AMD Geode[1] which is x86 compatible
according to wiki.

Can you please tell me how I can add the required module to the NAO's
kernel?

I already tried something, but this is my first brush with kernel
compilation, so it was probably wrong:


I built the cp210x module using the NAO kernel tree:


> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$ pwd
> /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-66f8749
> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$ file drivers/usb/serial/cp210x.ko
> drivers/usb/serial/cp210x.ko: ELF 32-bit LSB relocatable, Intel 80386, version 1 (SYSV), BuildID[sha1]=0x61274b6a395ca0bbb45729b87283f361c04b396f, not stripped
> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$
> 

I placed this into the drivers/usb/serial directory in the NAO system,
but it didn't work (no surprise there!). It gave me an error:

"Invalid module format" when I tried modprobe or insmod.

The /var/log/messages had this:
"no version for struct_module found: kernel tainted".

Any hints please? It's probably something simple, just not simple enough
for a kernel newbie :)

This is the set of modules they ship their kernel with:

> [ankur at ankur 2.6.29.6-rt24-aldebaran-rt]$ pwd
> /run/media/ankur/OpenNao-system/lib/modules/2.6.29.6-rt24-aldebaran-rt
> [ankur at ankur 2.6.29.6-rt24-aldebaran-rt]$ ll
> total 409
> lrwxrwxrwx. 1 root root     93 Jun  4 01:23 build -> /opennao-geode/tmp/portage/ald-kernel/opennao-kernel-2.6.29-r41/work/linux-2.6.29-opennao-r41
> drwxr-xr-x. 5 root root   1024 Jun  4 01:23 kernel
> -rw-r--r--. 1 root root  59429 Aug 14 11:01 modules.alias
> -rw-r--r--. 1 root root  49998 Aug 14 11:01 modules.alias.bin
> -rw-r--r--. 1 root root     69 Aug 14 11:01 modules.ccwmap
> -rw-r--r--. 1 root root  11117 Aug 14 11:01 modules.dep
> -rw-r--r--. 1 root root  13279 Aug 14 11:01 modules.dep.bin
> -rw-r--r--. 1 root root     73 Aug 14 11:01 modules.ieee1394map
> -rw-r--r--. 1 root root    141 Aug 14 11:01 modules.inputmap
> -rw-r--r--. 1 root root     81 Aug 14 11:01 modules.isapnpmap
> -rw-r--r--. 1 root root     74 Aug 14 11:01 modules.ofmap
> -rw-r--r--. 1 root root    937 Jun  3 17:25 modules.order
> -rw-r--r--. 1 root root   2829 Aug 14 11:01 modules.pcimap
> -rw-r--r--. 1 root root     85 Aug 14 11:01 modules.seriomap
> -rw-r--r--. 1 root root  25281 Aug 14 11:01 modules.symbols
> -rw-r--r--. 1 root root  36981 Aug 14 11:01 modules.symbols.bin
> -rw-r--r--. 1 root root 199651 Aug 14 11:01 modules.usbmap
> lrwxrwxrwx. 1 root root     93 Jun  4 01:23 source -> /opennao-geode/tmp/portage/ald-kernel/opennao-kernel-2.6.29-r41/work/linux-2.6.29-opennao-r41
> drwxr-xr-x. 5 root root   1024 Jun  4 01:23 updates
> [ankur at ankur 2.6.29.6-rt24-aldebaran-rt]$ find . -name "*.ko" -not -name "cp210x.ko" -print
> ./updates/compat/compat.ko
> ./updates/compat/compat_firmware_class.ko
> ./updates/net/wireless/cfg80211.ko
> ./updates/net/mac80211/mac80211.ko
> ./updates/net/rfkill/rfkill_backport.ko
> ./updates/drivers/misc/eeprom/eeprom_93cx6.ko
> ./updates/drivers/net/wireless/rt2x00/rt2x00pci.ko
> ./updates/drivers/net/wireless/rt2x00/rt2800lib.ko
> ./updates/drivers/net/wireless/rt2x00/rt2400pci.ko
> ./updates/drivers/net/wireless/rt2x00/rt61pci.ko
> ./updates/drivers/net/wireless/rt2x00/rt2x00usb.ko
> ./updates/drivers/net/wireless/rt2x00/rt2800pci.ko
> ./updates/drivers/net/wireless/rt2x00/rt2x00lib.ko
> ./updates/drivers/net/wireless/rt2x00/rt2500usb.ko
> ./updates/drivers/net/wireless/rt2x00/rt2800usb.ko
> ./updates/drivers/net/wireless/rt2x00/rt73usb.ko
> ./updates/drivers/net/wireless/rt2x00/rt2500pci.ko
> ./updates/drivers/net/wireless/zd1211rw/zd1211rw.ko
> ./kernel/net/wireless/cfg80211.ko
> ./kernel/net/mac80211/mac80211.ko
> ./kernel/net/bluetooth/sco.ko
> ./kernel/net/bluetooth/hidp/hidp.ko
> ./kernel/net/bluetooth/l2cap.ko
> ./kernel/net/bluetooth/bnep/bnep.ko
> ./kernel/net/bluetooth/rfcomm/rfcomm.ko
> ./kernel/lib/cimarron/cimarron.ko
> ./kernel/lib/crc-itu-t.ko
> ./kernel/drivers/staging/rt2870/rt3070sta.ko
> ./kernel/drivers/misc/eeprom/eeprom_93cx6.ko
> ./kernel/drivers/usb/class/cdc-acm.ko
> ./kernel/drivers/usb/serial/usbserial.ko
> ./kernel/drivers/usb/serial/ftdi_sio.ko
> ./kernel/drivers/hid/hid.ko
> ./kernel/drivers/net/wireless/zd1211rw/zd1211rw.ko
> ./kernel/drivers/net/wireless/rtl818x/rtl8187.ko
> ./kernel/drivers/hwmon/lm90.ko
> ./kernel/drivers/scsi/scsi_wait_scan.ko
> ./kernel/drivers/media/video/lxv4l2/lxv4l2.ko
> ./kernel/drivers/i2c/busses/scx200_acb.ko
> ./kernel/drivers/i2c/busses/i2c-serial.ko
> ./kernel/drivers/bluetooth/btusb.ko
> ./kernel/drivers/bluetooth/bfusb.ko
> ./kernel/drivers/bluetooth/bcm203x.ko
> ./kernel/drivers/bluetooth/hci_vhci.ko
> [ankur at ankur 2.6.29.6-rt24-aldebaran-rt]$


Please let me know if you need any more info, and I'll provide it. 

The kernel goes on a USB flash drive that needs to be inserted into the
NAO to make it boot. They provide a utility that formats the flash drive
as such:

> [ankur at ankur ~]$ cd /run/media/ankur/
> [ankur at ankur ankur]$ ll
> total 5
> drwxr-xr-x.  7 root root 4096 Aug  6 22:28 OpenNao-data
> drwxr-xr-x. 17 root root 1024 Aug 14 10:50 OpenNao-system
> [ankur at ankur ankur]$ mount | egrep OpenNao
> /dev/sdb1 on /run/media/ankur/OpenNao-system type ext3 (rw,nosuid,nodev,relatime,seclabel,data=ordered,uhelper=udisks2)
> /dev/sdb2 on /run/media/ankur/OpenNao-data type ext3 (rw,nosuid,nodev,relatime,seclabel,data=ordered,uhelper=udisks2)
> [ankur at ankur ankur]$
> 

[1] http://en.wikipedia.org/wiki/Nao_(robot)
[2] https://github.com/aldebaran/linux-aldebaran/
[3] http://www.intersense.com/pages/16/16/
[4] http://en.wikipedia.org/wiki/Geode_(processor)

-- 
Thanks, 
Warm regards,
Ankur: "FranciscoD"

Please only print if necessary. 

Looking to contribute to Fedora? Look here: https://fedoraproject.org/wiki/Fedora_Join_SIG

http://fedoraproject.org/wiki/User:Ankursinha
http://dodoincfedora.wordpress.com/

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Adding the cp210x module to the NAO kernel

[Mulyadi Santosa]

Hi Ankur :)

On Wed, Aug 15, 2012 at 1:24 PM, Ankur Sinha <sanjay.ankur@gmail.com> wrote:
> I built the cp210x module using the NAO kernel tree:
>
>
>> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$ pwd
>> /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-66f8749
>> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$ file drivers/usb/serial/cp210x.ko
>> drivers/usb/serial/cp210x.ko: ELF 32-bit LSB relocatable, Intel 80386, version 1 (SYSV), BuildID[sha1]=0x61274b6a395ca0bbb45729b87283f361c04b396f, not stripped
>> [ankur at ankur aldebaran-linux-aldebaran-66f8749]$
>>
>
> I placed this into the drivers/usb/serial directory in the NAO system,
> but it didn't work (no surprise there!). It gave me an error:
>
> "Invalid module format" when I tried modprobe or insmod.


Just a quick test, what happen if you do:
insmod -f /path/to/the/module.ko
?

IMHO, quite likely the message you saw happened since you compile the
kernel  module with different version of gcc and/or different gcc
parameter, that somehow yield binary incompatibility.

Another thought, what arch do you use when you compile that kernel
module? AMD Geode too?



-- 
regards,

Mulyadi Santosa
Freelance Linux trainer and consultant

blog: the-hydra.blogspot.com
training: mulyaditraining.blogspot.com

Adding the cp210x module to the NAO kernel

[Ankur Sinha]

On Wed, 2012-08-15 at 20:08 +0700, Mulyadi Santosa wrote:
> Hi Ankur :)

Hi Mulyadi,

Thanks for your reply!

<snip>
> 
> Just a quick test, what happen if you do:
> insmod -f /path/to/the/module.ko
> ?

I didn't try the -f switch. (The man page I have in Fedora doesn't even
mention it). Unfortunately, the robot is maintained by another
laboratory: we need to take permission and make an appointment to use
it. I'll try this the next time I have an appointment.

> 
> IMHO, quite likely the message you saw happened since you compile the
> kernel  module with different version of gcc and/or different gcc
> parameter, that somehow yield binary incompatibility.

Probably :/ . The manufacturers haven't mentioned what version of gcc
etc. they used. I used the one I had available:

> gcc-4.7.0-5.fc17.x86_64


> 
> Another thought, what arch do you use when you compile that kernel
> module? AMD Geode too?
> 

No. I compiled it on my system, which is an x86_64 using the ARCH
parameter to the make command:

make ARCH=i386 ... (I got this from here[1])

The system they provide (the Geode), along with their file system etc.
has no development tools at all, so I can't build the module there
(unless I first compile gcc etc from source, like LFS?). It seems to use
a live persistent USB (which has a data and system partition), although
none of the partitions are marked bootable. I'm guessing it has a
bootloader on-board, but again, no info on that either.

[1]
http://www.linuxtopia.org/online_books/linux_kernel/kernel_configuration/ch05s04.html

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Adding the cp210x module to the NAO kernel

[Ankur Sinha]

On Wed, 2012-08-15 at 20:08 +0700, Mulyadi Santosa wrote:
> Another thought, what arch do you use when you compile that kernel
> module? AMD Geode too?


Hi Mulyadi,

I think this might be the issue. I chrooted into the usb and checked the
modinfos for the various modules:

The cp210x.ko module is what I've built, and the vermagic is completely
different compared to the other modules. 

> root at ankur [err 130] serial $ for i in `ls`; do modinfo "$i" | sed "/alias/ d"; echo ; done
> filename:       cp210x.ko
> license:        GPL
> version:        v0.09
> description:    Silicon Labs CP210x RS232 serial adaptor driver
> srcversion:     AABC22BCCBD49828BA2AE5A
> depends:
> vermagic:       2.6.33.9-rt31 SMP mod_unload 686 4KSTACKS
> parm:           debug:Enable verbose debugging messages (bool)
> 
> filename:       ftdi_sio.ko
> license:        GPL
> description:    USB FTDI Serial Converters Driver
> author:         Greg Kroah-Hartman <greg@kroah.com>, Bill Ryder <bryder@sgi.com>, Kuba Ober <kuba@mareimbrium.org>
> depends:        usbserial
> vermagic:       2.6.29.6-rt24-aldebaran-rt preempt mod_unload modversions GEODE
> parm:           debug:Debug enabled or not (bool)
> parm:           vendor:User specified vendor ID (default=0x0403) (ushort)
> parm:           product:User specified product ID (ushort)
> 
> filename:       usbserial.ko
> license:        GPL
> description:    USB Serial Driver core
> author:         Greg Kroah-Hartman, greg at kroah.com, http://www.kroah.com/linux/
> depends:
> vermagic:       2.6.29.6-rt24-aldebaran-rt preempt mod_unload modversions GEODE
> parm:           debug:Debug enabled or not (bool)
> 
> root at ankur [0] serial $
> 

Is there a way I can compile this module for the GEODE on another system
(Cross compile?)? I also seem to have gotten the wrong kernel version
(rt24 vs rt31). I'll go find the correct kernel version from their
git[1] and retry.

[1] https://github.com/aldebaran/linux-aldebaran/tree/release-1.12/geode

-- 
Thanks, 
Warm regards,
Ankur: "FranciscoD"

Please only print if necessary. 

Looking to contribute to Fedora? Look here: https://fedoraproject.org/wiki/Fedora_Join_SIG

http://fedoraproject.org/wiki/User:Ankursinha
http://dodoincfedora.wordpress.com/
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Adding the cp210x module to the NAO kernel

[Ankur Sinha]

On Thu, 2012-08-16 at 10:52 +1000, Ankur Sinha wrote:
> Is there a way I can compile this module for the GEODE on another
> system
> (Cross compile?)? I also seem to have gotten the wrong kernel version
> (rt24 vs rt31). I'll go find the correct kernel version from their
> git[1] and retry. 

Hi folks,

It seems I'm a little out of luck :/

I downloaded the correct version kernel source, and it appears to not
contain the cp210x module at all:

> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$ find . -name "*cp21*" -print
> ./drivers/net/irda/mcp2120-sir.c
> ./drivers/usb/serial/cp2101.o
> ./drivers/usb/serial/.cp2101.o.cmd
> ./drivers/usb/serial/cp2101.c
> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$ pwd
> /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-68edb2f
> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$

How do I proceed? Can i take the module source from a newer kernel and
build it with this one? Or will I have to just use a newer kernel tree
altogether and replace the kernel they ship?

On a positive note, I do seem to have built the other modules correctly
(vermagic is same to the actual kernel modules now):


> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$ modinfo drivers/usb/serial/usbserial.ko
> filename:       /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-68edb2f/drivers/usb/serial/usbserial.ko
> license:        GPL
> description:    USB Serial Driver core
> author:         Greg Kroah-Hartman, greg at kroah.com, http://www.kroah.com/linux/
> depends:
> vermagic:       2.6.29.6-rt24-aldebaran-rt preempt mod_unload modversions
> parm:           debug:Debug enabled or not (bool)
> 

It misses a "GEODE" at the end though. What does that imply?

Actual kernel modules:

> [root at ankur ~]# !chroot
> chroot /run/media/ankur/OpenNao-system/
> bash: /dev/null: Permission denied
> root at ankur [0] / $ modinfo /lib/modules/2.6.29.6-rt24-aldebaran-rt/kernel/drivers/usb/serial/
> ftdi_sio.ko   usbserial.ko
> root at ankur [0] / $ modinfo /lib/modules/2.6.29.6-rt24-aldebaran-rt/kernel/drivers/usb/serial/usbserial.ko
> filename:       /lib/modules/2.6.29.6-rt24-aldebaran-rt/kernel/drivers/usb/serial/usbserial.ko
> license:        GPL
> description:    USB Serial Driver core
> author:         Greg Kroah-Hartman, greg at kroah.com, http://www.kroah.com/linux/
> depends:
> vermagic:       2.6.29.6-rt24-aldebaran-rt preempt mod_unload modversions GEODE
> parm:           debug:Debug enabled or not (bool)
> root at ankur [0] / $

-- 
Thanks again, 
Warm regards,
Ankur: "FranciscoD"

Please only print if necessary. 

Looking to contribute to Fedora? Look here: https://fedoraproject.org/wiki/Fedora_Join_SIG

http://fedoraproject.org/wiki/User:Ankursinha
http://dodoincfedora.wordpress.com/
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Adding the cp210x module to the NAO kernel

[Mulyadi Santosa]

Dear Ankur...

On Thu, Aug 16, 2012 at 9:47 AM, Ankur Sinha <sanjay.ankur@gmail.com> wrote:
> On Thu, 2012-08-16 at 10:52 +1000, Ankur Sinha wrote:
>> Is there a way I can compile this module for the GEODE on another
>> system
>> (Cross compile?)? I also seem to have gotten the wrong kernel version
>> (rt24 vs rt31). I'll go find the correct kernel version from their
>> git[1] and retry.
>
> Hi folks,
>
> It seems I'm a little out of luck :/
>
> I downloaded the correct version kernel source, and it appears to not
> contain the cp210x module at all:
>
>> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$ find . -name "*cp21*" -print
>> ./drivers/net/irda/mcp2120-sir.c
>> ./drivers/usb/serial/cp2101.o
>> ./drivers/usb/serial/.cp2101.o.cmd
>> ./drivers/usb/serial/cp2101.c
>> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$ pwd
>> /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-68edb2f
>> [ankur at ankur aldebaran-linux-aldebaran-68edb2f]$
>
> How do I proceed? Can i take the module source from a newer kernel and
> build it with this one? Or will I have to just use a newer kernel tree
> altogether and replace the kernel they ship?

All I can say is, you might just have to try it.

BTW, I think the kernel in your device enforce strict versioning,
that's why you need to match it up. That's why I suggest -f in the
first place.

Anyway, architecture is sometimes very important to match, because you
might hit something nasty, i.e in x86, cmov is available on certain
processor model only.

Oh and, beware of the stack size. it seems that the kernel in your
device use 4K stack size. You need to match that too.

NB: of course, all this headache can be avoided if your device
provides SDK, which is, as you said, seems unavailable.


-- 
regards,

Mulyadi Santosa
Freelance Linux trainer and consultant

blog: the-hydra.blogspot.com
training: mulyaditraining.blogspot.com