Издевательства над DJI Lightbridge

Разбираем бортовую часть.

Продолжение...

Бортовая часть

Состоит из двух плат. Первая плата - плата обработки видео, осуществляет захват с HDMI и с аналогового входа, кодирует в H264 с помощью DM368. Вторая плата - трансивер. Платы между собой подключены по USB, трансивер виден на DM368 как USB устройство, в которое основной процесс encode_usb отправляет видеопоток.

Полный размер Плата с захватом и энкодером (DM368), вид спереди

Полный размер Плата с захватом и энкодером (DM368), вид сзади. Пины UART подписаны.

Полный размер Плата трансивера, вид спереди

Полный размер Плата трансивера, вид сзади

Лог при загрузке

[code]DM36x initialization passed!
UBL Product Vesion : DJI-ABP-SUPER-UBL-1.0-rc0(2014-08-25)
Dji UBL Version: 1.51(Aug 26 2014 - 16:00:24)
Booting Catalog Boot Loader
BootMode = NAND
Starting NAND Copy...
Valid magicnum, 0xA1ACED66, found in block 0x00000019.
DONE
Jumping to entry point at 0x81080000.

U-Boot Product Vesion : DJI-ABP-Uboot-1.0-rc4(2014-07-23)
U-Boot 2010.12-rc2-svn-Dji (Jul 23 2014 - 10:21:51)
Cores: ARM 486 MHz
DDR: 360 MHz
I2C: ready
DRAM: 128 MiB
NAND: 128 MiB
Bad block table found at page 65472, version 0x01
Bad block table found at page 65408, version 0x01
*** Warning - bad CRC, using default environment

Net: Ethernet PHY: GENERIC @ 0xff
DaVinci-EMAC
Hit any key to stop autoboot: 1 0

Loading from nand0, offset 0x4a0000
Image Name: Linux-2.6.32.17-davinci1
Created: 2014-10-28 8:40:18 UTC
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 3840448 Bytes = 3.7 MiB
Load Address: 80008000
Entry Point: 80008000
## Booting kernel from Legacy Image at 80700000 ...
Image Name: Linux-2.6.32.17-davinci1
Created: 2014-10-28 8:40:18 UTC
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 3840448 Bytes = 3.7 MiB
Load Address: 80008000
Entry Point: 80008000
Loading Kernel Image ... OK
OK

Starting kernel ...

[ 0.000000] Kernel Product Vesion : DJI-ABP-Kernel-1.1-rc4(2014-10-28)
[ 0.000000] Linux version 2.6.32.17-davinci1 (root@dji) (gcc version 4.3.3 (Sourcery G++ Lite 2009q1-203) ) #18 PREEMPT Tue Oct 28 16:40:16 HKT 2014
[ 0.000000] CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177
[ 0.000000] CPU: VIVT data cache, VIVT instruction cache
[ 0.000000] Machine: DaVinci DM36x EVM
[ 0.000000] Memory policy: ECC disabled, Data cache writeback
[ 0.000000] DaVinci dm36x_rev1.2 variant 0x8
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping off. Total pages: 12192
[ 0.000000] Kernel command line: console=ttyS0,115200n8 rw dm365_imp.oper_mode=0 video=davincifb:vid0=0,0:vid1=0,0:osd0=0,0:osd1=0,0 mem=48MB davinci_enc_mngr.ch0_output=COMPOSITE davinci_enc_mngr.ch0_mode=pal ubi.mtd=2,2048 root=ubi0:rootfs rootfstype=ubifs ip=off lpj=1077248
[ 0.000000] PID hash table entries: 256 (order: -2, 1024 bytes)
[ 0.000000] Dentry cache hash table entries: 8192 (order: 3, 32768 bytes)
[ 0.000000] Inode-cache hash table entries: 4096 (order: 2, 16384 bytes)
[ 0.000000] Memory: 48MB = 48MB total
[ 0.000000] Memory: 44640KB available (3472K code, 439K data, 112K init, 0K highmem)
[ 0.000000] SLUB: Genslabs=11, HWalign=32, Order=0-3, MinObjects=0, CPUs=1, Nodes=1
[ 0.000000] Hierarchical RCU implementation.
[ 0.000000] NR_IRQS:245
[ 0.000000] Console: colour dummy device 80x30
[ 0.000000] Calibrating delay loop (skipped) preset value.. 215.44 BogoMIPS (lpj=1077248)
[ 0.000000] Mount-cache hash table entries: 512
[ 0.000000] CPU: Testing write buffer coherency: ok
[ 0.000000] DaVinci: 8 gpio irqs
[ 0.000000] NET: Registered protocol family 16
[ 0.030000] EVM: HD imager video input
[ 0.090000] bio: create slab <bio-0> at 0
[ 0.090000] DM365 IPIPE initialized in Continuous mode
[ 0.090000] usbcore: registered new interface driver usbfs
[ 0.090000] usbcore: registered new interface driver hub
[ 0.090000] usbcore: registered new device driver usb
[ 0.100000] vpss vpss: dm365_vpss vpss probed
[ 0.100000] vpss vpss: dm365_vpss vpss probe success
[ 0.100000] dm365_afew_hw_init
[ 0.100000] ch0 default output "COMPOSITE", mode "PAL"
[ 0.100000] VPBE Encoder Initialized
[ 0.110000] cfg80211: Using static regulatory domain info
[ 0.110000] cfg80211: Regulatory domain: US
[ 0.110000] (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp)
[ 0.110000] (2402000 KHz - 2472000 KHz @ 40000 KHz), (600 mBi, 2700 mBm)
[ 0.110000] (5170000 KHz - 5190000 KHz @ 40000 KHz), (600 mBi, 2300 mBm)
[ 0.110000] (5190000 KHz - 5210000 KHz @ 40000 KHz), (600 mBi, 2300 mBm)
[ 0.110000] (5210000 KHz - 5230000 KHz @ 40000 KHz), (600 mBi, 2300 mBm)
[ 0.110000] (5230000 KHz - 5330000 KHz @ 40000 KHz), (600 mBi, 2300 mBm)
[ 0.110000] (5735000 KHz - 5835000 KHz @ 40000 KHz), (600 mBi, 3000 mBm)
[ 0.110000] cfg80211: Calling CRDA for country: US
[ 0.110000] LogicPD encoder initialized
[ 0.110000] Switching to clocksource timer0_1
[ 0.110000] musb_hdrc: version 6.0, pio, host, debug=0
[ 0.130000] musb_hdrc: USB Host mode controller at fec64000 using PIO, IRQ 12
[ 0.130000] musb_hdrc musb_hdrc: MUSB HDRC host driver
[ 0.130000] musb_hdrc musb_hdrc: new USB bus registered, assigned bus number 1
[ 0.130000] usb usb1: configuration #1 chosen from 1 choice
[ 0.130000] hub 1-0:1.0: USB hub found
[ 0.130000] hub 1-0:1.0: 1 port detected
[ 0.130000] NET: Registered protocol family 2
[ 0.130000] IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
[ 0.130000] TCP established hash table entries: 2048 (order: 2, 16384 bytes)
[ 0.130000] TCP bind hash table entries: 2048 (order: 1, 8192 bytes)
[ 0.130000] TCP: Hash tables configured (established 2048 bind 2048)
[ 0.130000] TCP reno registered
[ 0.130000] NET: Registered protocol family 1
[ 0.130000] RPC: Registered udp transport module.
[ 0.130000] RPC: Registered tcp transport module.
[ 0.130000] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 0.140000] JFFS2 version 2.2. (NAND) В© 2001-2006 Red Hat, Inc.
[ 0.140000] msgmni has been set to 87
[ 0.140000] alg: No test for stdrng (krng)
[ 0.140000] io scheduler noop registered (default)
[ 0.200000] DM365 IPIPEIF probed
[ 0.200000] imp serializer initialized
[ 0.200000] davinci_previewer initialized
[ 0.210000] davinci_resizer initialized
[ 0.210000] Serial: 8250/16550 driver, 2 ports, IRQ sharing disabled
[ 0.210000] serial8250.0: ttyS0 at MMIO 0x1c20000 (irq = 40) is a 16550A
[ 0.620000] console [ttyS0] enabled
[ 0.630000] serial8250.0: ttyS1 at MMIO 0x1d06000 (irq = 41) is a 16550A
[ 0.640000] brd: module loaded
[ 0.640000] NAND device: Manufacturer ID: 0x2c, Chip ID: 0xf1 (Micron NAND 128MiB 3,3V 8-bit)
[ 0.650000] Creating 4 MTD partitions on "davinci_nand.0":
[ 0.660000] 0x000000000000-0x0000004a0000 : "bootloader"
[ 0.670000] 0x0000004a0000-0x000000e00000 : "kernel"
[ 0.670000] 0x000000e00000-0x000007f00000 : "filesystem"
[ 0.680000] 0x000000000000-0x000008000000 : "all"
[ 0.690000] davinci_nand davinci_nand.0: controller rev. 2.3
[ 0.700000] UBI: attaching mtd2 to ubi0
[ 0.700000] UBI: physical eraseblock size: 131072 bytes (128 KiB)
[ 0.710000] UBI: logical eraseblock size: 126976 bytes
[ 0.710000] UBI: smallest flash I/O unit: 2048
[ 0.720000] UBI: sub-page size: 512
[ 0.720000] UBI: VID header offset: 2048 (aligned 2048)
[ 0.730000] UBI: data offset: 4096
[ 0.850000] usb 1-1: new high speed USB device using musb_hdrc and address 2
[ 1.000000] usb 1-1: configuration #1 chosen from 1 choice
[ 1.160000] UBI: attached mtd2 to ubi0
[ 1.170000] UBI: MTD device name: "filesystem"
[ 1.170000] UBI: MTD device size: 113 MiB
[ 1.180000] UBI: number of good PEBs: 904
[ 1.180000] UBI: number of bad PEBs: 0
[ 1.190000] UBI: max. allowed volumes: 128
[ 1.190000] UBI: wear-leveling threshold: 4096
[ 1.200000] UBI: number of internal volumes: 1
[ 1.200000] UBI: number of user volumes: 1
[ 1.210000] UBI: available PEBs: 0
[ 1.210000] UBI: total number of reserved PEBs: 904
[ 1.220000] UBI: number of PEBs reserved for bad PEB handling: 9
[ 1.220000] UBI: max/mean erase counter: 209/2
[ 1.230000] UBI: image sequence number: 94112799
[ 1.230000] UBI: background thread "ubi_bgt0d" started, PID 311
[ 1.240000] console [netcon0] enabled
[ 1.240000] netconsole: network logging started
[ 1.250000] i2c /dev entries driver
[ 1.250000] Linux video capture interface: v2.00
[ 1.260000] vpfe_init
[ 1.260000] vpfe-capture: vpss clock vpss_master enabled
[ 1.270000] vpfe-capture vpfe-capture: v4l2 device registered
[ 1.270000] vpfe-capture vpfe-capture: video device registered
[ 1.280000] EVM: switch to tvp5151 cvbs video input
[ 1.290000] vpfe-capture vpfe-capture: v4l2 sub device tvp5150 registered
[ 1.290000] EVM: switch to it6604 hdmi video input
[ 1.310000] vpfe-capture vpfe-capture: v4l2 sub device cat6023 registered
[ 1.310000] vpfe_register_ccdc_device: DM365 ISIF
[ 1.320000] DM365 ISIF is registered with vpfe.
[ 1.330000] Trying to register davinci display video device.
[ 1.330000] layer=c10ab800,layer->video_dev=c10ab964
[ 1.340000] Trying to register davinci display video device.
[ 1.340000] layer=c10abc00,layer->video_dev=c10abd64
[ 1.350000] davinci_init:DaVinci V4L2 Display Driver V1.0 loaded
[ 1.360000] watchdog watchdog: heartbeat 1 sec
[ 1.360000] TCP cubic registered
[ 1.370000] NET: Registered protocol family 17
[ 1.370000] lib80211: common routines for IEEE802.11 drivers
[ 1.940000] encrypt device:at88 found
[ 1.970000] Clocks: disable unused mmcsd0
[ 1.970000] Clocks: disable unused mmcsd1
[ 1.970000] Clocks: disable unused spi0
[ 1.970000] Clocks: disable unused spi1
[ 1.970000] Clocks: disable unused spi2
[ 1.970000] Clocks: disable unused spi3
[ 1.970000] Clocks: disable unused spi4
[ 1.970000] Clocks: disable unused pwm0
[ 1.970000] Clocks: disable unused pwm1
[ 1.970000] Clocks: disable unused pwm2
[ 1.970000] Clocks: disable unused pwm3
[ 1.970000] Clocks: disable unused timer1
[ 1.970000] Clocks: disable unused timer3
[ 1.970000] Clocks: disable unused emac
[ 1.970000] Clocks: disable unused voice_codec
[ 1.970000] Clocks: disable unused asp0
[ 1.970000] Clocks: disable unused rto
[ 1.970000] Clocks: disable unused mjcp
[ 2.050000] nnnn===0
[ 2.050000] davinci_emac_probe: using random MAC addr: f2:92:ea:b7:ba:13
[ 2.060000] emac-mii: probed
[ 2.090000] UBIFS: recovery needed
[ 2.150000] UBIFS: recovery completed
[ 2.150000] UBIFS: mounted UBI device 0, volume 0, name "rootfs"
[ 2.160000] UBIFS: file system size: 110342144 bytes (107756 KiB, 105 MiB, 869 LEBs)
[ 2.160000] UBIFS: journal size: 9023488 bytes (8812 KiB, 8 MiB, 72 LEBs)
[ 2.170000] UBIFS: media format: w4/r0 (latest is w4/r0)
[ 2.180000] UBIFS: default compressor: lzo
[ 2.180000] UBIFS: reserved for root: 0 bytes (0 KiB)
[ 2.190000] VFS: Mounted root (ubifs filesystem) on device 0:13.
[ 2.190000] Freeing init memory: 112K

Filesystem Product Vesion : DJI-Filesystem-1.0-rc2
Runing /etc/init.d/rcS
[ 3.710000] CMEMK module: built on Jan 14 2014 at 19:23:51
[ 3.730000] Reference Linux version 2.6.32
[ 3.730000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/cmem/src/module/cmemk.c
[ 3.750000] allocated heap buffer 0xc7000000 of size 0x15e2000
[ 3.750000] heap fallback enabled - will try heap if pool buffer is not available
[ 3.770000] CMEM Range Overlaps Kernel Physical - allowing overlap
[ 3.790000] CMEM phys_start (0x1000) overlaps kernel (0x80000000 -> 0x83000000)
[ 3.790000] cmemk initialized
[ 3.820000] IRQK module: built on Jan 14 2014 at 19:23:57
[ 3.840000] Reference Linux version 2.6.32
[ 3.840000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/irq/src/module/irqk.c
[ 3.860000] irqk initialized
[ 3.900000] EDMAK module: built on Jan 14 2014 at 19:24:08
[ 3.910000] Reference Linux version 2.6.32
[ 3.920000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/edma/src/module/edmak.c
sulogin: no password entry for root


Switch V00.00.00.01(Oct 10 2014 11:17:24).
login[419]: root login on 'ttyS0'

#Process /etc/profile...
root@Dji-Pro:~#
[ 4.190000] cmemk unregistered
[ 4.240000] irqk unregistered
[ 4.370000] CMEMK module: built on Jan 14 2014 at 19:23:51
[ 4.390000] Reference Linux version 2.6.32
[ 4.390000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/cmem/src/module/cmemk.c
[ 4.410000] allocated heap buffer 0xc7000000 of size 0x15e2000
[ 4.430000] heap fallback enabled - will try heap if pool buffer is not available
[ 4.440000] CMEM Range Overlaps Kernel Physical - allowing overlap
[ 4.450000] CMEM phys_start (0x1000) overlaps kernel (0x80000000 -> 0x83000000)
[ 4.460000] cmemk initialized
[ 4.480000] IRQK module: built on Jan 14 2014 at 19:23:57
[ 4.500000] Reference Linux version 2.6.32
[ 4.500000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/irq/src/module/irqk.c
[ 4.520000] irqk initialized
[ 4.560000] EDMAK module: built on Jan 14 2014 at 19:24:08
[ 4.560000] Reference Linux version 2.6.32
[ 4.580000] File /home/u/dm368/dvsdk_dm368_4_02_00_06/linuxutils_2_26_01_02/packages/ti/sdo/linuxutils/edma/src/module/edmak.c


encode_usb V00.02.02.00(Oct 27 2014 13:07:18).
init libusb successed!!!
open 68013 succeed VENDOR_ID = 0x0547
Claiming libusb_claim_interface 68013 successed
Init TransferQueue
use libusb async send Auto to detect video input type:
Default video input selected:Hdmi_yuv
poll thread running
HDMI input is not connected....
Try to connected CVBS input...
Failed to set video input to 0 (Invalid argument)

[ 4.960000] EVM: switch to it6604 hdmi video input
[ 4.970000] hdmi is not online
[ 4.970000] EVM: switch to tvp5151 cvbs video input
[ 8.260000] EVM: switch to it6604 hdmi video input
[ 8.260000] hdmi is not online

HDMI input is not connected....
Try to connected CVBS input...
Failed to set video input to 0 (Invalid argument)

[ 8.270000] EVM: switch to tvp5151 cvbs video input
[ 11.530000] EVM: switch to it6604 hdmi video input
[ 11.530000] hdmi is not online
[ 11.530000] EVM: switch to tvp5151 cvbs video input
[ 14.800000] EVM: switch to it6604 hdmi video input
[ 14.800000] hdmi is not online
[ 14.800000] EVM: switch to tvp5151 cvbs video input

root@Dji-Pro:~#[/code]

При подключении HDMI камеры

[code][ 96.350000] HDMI ON
[ 96.550000] EVM: switch to it6604 hdmi video input
Setting video standard to: 0x20000000000000
Capture input set to Hdmi_yuv:13
[ 96.560000] davinci_resizer davinci_resizer.2: RSZ_G_CONFIG:0:1:124
[ 96.570000] davinci_previewer davinci_previewer.2: ipipe_set_preview_config
[ 96.570000] vpfe-capture vpfe-capture: IPIPE Chained
[ 96.580000] vpfe-capture vpfe-capture: Resizer present
[ 96.590000] EVM: switch to it6604 hdmi video input
Capture videoStdOld=00000014
[ 96.590000] vpfe-capture vpfe-capture: width = 1280, height = 720, bpp = 1
[ 96.600000] vpfe-capture vpfe-capture: adjusted width = 1280, height = 720, bpp = 1, bytesperline = 1280, sizeimage = 1382400
[ 96.610000] vpfe-capture vpfe-capture: width = 1280, height = 720, bpp = 1
[ 96.620000] vpfe-capture vpfe-capture: adjusted width = 1280, height = 720, bpp = 1, bytesperline = 1280, sizeimage = 1382400
videoFrameRate=25000, width=1280, height=720
Venc1.c : minNumOutBufs 2, minOutBufSize[0] 1382400, minOutBufSize[1] 800
GOP interval:30, outBufSize:1382400, enAdpBW:1, airRate=0, slice=6, VUI=4,timeScale=50000
watchdog timeout:5
ctrlThrFxn: process ID is 451 ***********
@@@@@@@@@@@@@@CTL1=0, PHY=51, targetBitrate=4080000
Frmae:0 Pslice = 0, Islice = 8[36ms]


serialData[55,aa,55,aa,1e,00,01,00,b4,00,b4,00,b4,00,00,03,00,00,03,00,00,03,00,00,03,00,00,03,00,02,00,19,67,90,0b,00,a8,a4,30,55,bb,55,bb,]

Frmae:30 Pslice = 0, Islice = 8[22ms]
FPGA[51,100,0,0,251]-1.000000:5100000
cvbs:0, hdmi:1
ARM Load: 9% Video fps: 25 fps Video bit rate: 3405 kbps PHY Bandwidth: 5100 kbps Time: 00:00:02 Resolution: 1280x720

Frmae:60 Pslice = 0, Islice = 8[24ms]
FPGA[51,100,0,0,251]-1.000000:5100000
cvbs:0, hdmi:1
ARM Load: 31% Video fps: 25 fps Video bit rate: 3324 kbps PHY Bandwidth: 5100 kbps Time: 00:00:03 Resolution: 1280x720

Frmae:90 Pslice = 0, Islice = 8[26ms]
FPGA[51,100,0,0,251]-1.000000:5100000
cvbs:0, hdmi:1
ARM Load: 31% Video fps: 26 fps Video bit rate: 3597 kbps PHY Bandwidth: 5100 kbps Time: 00:00:04 Resolution: 1280x720

Frmae:120 Pslice = 0, Islice = 8[24ms]
FPGA[51,100,0,0,251]-1.000000:5100000
cvbs:0, hdmi:1
ARM Load: 29% Video fps: 25 fps Video bit rate: 3445 kbps PHY Bandwidth: 5100 kbps Time: 00:00:05 Resolution: 1280x720

Frmae:150 Pslice = 0, Islice = 8[25ms]
FPGA[51,100,0,0,251]-1.000000:5100000
cvbs:0, hdmi:1
ARM Load: 27% Video fps: 25 fps Video bit rate: 3690 kbps PHY Bandwidth: 5100 kbps Time: 00:00:06 Resolution: 1280x720 [/code]

Процессы

[code]root@Dji-Pro:~# ps
PID USER TIME COMMAND
1 root 0:01 init
2 root 0:00 [kthreadd]
3 root 0:00 [ksoftirqd/0]
4 root 0:00 [events/0]
5 root 0:00 [khelper]
8 root 0:00 [async/mgr]
124 root 0:00 [sync_supers]
126 root 0:00 [bdi-default]
128 root 0:00 [kblockd/0]
139 root 0:00 [khubd]
142 root 0:00 [kseriod]
174 root 0:00 [rpciod/0]
183 root 0:00 [kswapd0]
184 root 0:00 [aio/0]
185 root 0:00 [nfsiod]
186 root 0:00 [crypto/0]
289 root 0:00 [mtdblockd]
311 root 0:00 [ubi_bgt0d]
328 root 0:00 [hdmi_queue]
329 root 0:00 [irq/44-6023_i2c]
346 root 0:00 [ubifs_bgt0_0]
416 root 0:00 /opt/dji/bin/sw_switch
418 root 0:00 {autologin} /bin/sh /sbin/autologin
419 root 0:00 -sh
451 root 0:00 /opt/dji/bin/encode_usb -a -s -m
454 root 0:00 ps[/code]

Сетевые интерфейсы

все неактивны
[code]root@Dji-Pro:~# ifconfig -a
eth0 Link encap:Ethernet HWaddr 00:00:00:00:00:00
BROADCAST MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
Interrupt:52 Base address:0x7000

lo Link encap:Local Loopback
LOOPBACK MTU:16436 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)[/code]

Наземная часть

Сам пока не разбирал, чужие фотки можно тут посмотреть