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@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@ankur aldebaran-linux-aldebaran-66f8749]$ pwd > /home/ankur/Documents/work/code/NAO/OS/aldebaran-linux-aldebaran-66f8749 > [ankur@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@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@ankur 2.6.29.6-rt24-aldebaran-rt]$ pwd > /run/media/ankur/OpenNao-system/lib/modules/2.6.29.6-rt24-aldebaran-rt > [ankur@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@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@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@ankur ~]$ cd /run/media/ankur/ > [ankur@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@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@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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