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AP2.0 Cameras: Capabilities and Limitations?
- Thread starter lunitiks
- Start date
Okay, but sounds very iffy. But what's that thing to the left, above the cameras then? Just a pure ambient light sensor, for adjusting touch screen brightness and such?
I guess the biggest thing here is the lack of rain sensing so far. While that sensor could just be for ambient light or also for rain, it is curious why - if a regular sensor is there - it would not have been implemented yet.
Waiting for a camera implementation, on the other hand, would sound like a plausible reason for the delay.
I also wonder if that circle could be big enough for a rain sensor?
That said, fair point @lunitiks, I don't think we can be sure camera(s) will be used. But if they are, the fisheye seems like a good candidate... it could follow light bouncing on the glare shield area...
Mjeh... On my AP1-car, I see an off-the-shelf HELLA sensor, signalling directly to the Pektron Body Controller in the passenger footwell, further controlling the wiper action.
On AP2 OTOH, I see a thin PCB mounted on top of / over the triple camera that according to Teslas service site is called "Light/Temperature/Humidity Sensor". This thingie is probably in-house stuff, and according to the wiring diagrams it reports to the PX 2.
So I suspect the waiting time for rain sensing wipers is due to difficulties (or lack of priorities) at Tesla getting that LTH-sensor to work properly.
(Just guessing, of course)
My theory about this "Light/Temperature/Humidity Sensor" is that the light part is used by the car to activate/deactive DRL and control screen brightness. The other two - Temperature and Humidity is useful for measuring the AP2 camera housing environment, and used to decide when to activate the heating wires (to melt snow or prevent mist).
Thanks for the great insight on that component. I am not getting the rain sensor vibe from that description, though... Let's keep researching.
Not only that, the rear-view mirror area is the common location of humidity sensors for the A/C in many cars like Audis even before any cameras - it usually targets the interior through a grille on the inside. Rain sensor is quite separate from that usually...
There's a cabin temp sensor in the center console, though... Yeah, let's keep researching.
Eagerly awaiting new pics from @verygreen
Eagerly awaiting new pics from @verygreen
There's a cabin temp sensor in the center console, though... Yeah, let's keep researching.
Eagerly awaiting new pics from @verygreen
Humidity is separate from cabin temp though on most cars. Apparently measuring it from high up front makes sense.
stopcrazypp
Well-Known Member
There's some reflection/ghosting removal algorithms they can apply to remove the effect, but it'll take extra processing.That fuzziness concerns me a little too. It sees the fisheye is a bit tricky to implement that far behind glass. I guess that is why MobilEye in their patent/prototype (that Tesla also tested) placed the front fisheye much closer to the class so that it wouldn't focus on the fuzz and there'd be less glare shield in the way...
There are more images in previous pages of this thread e.g.: --- Edit: I see you meant other scenes entirely, sorry. Would love those too!
All 7 raw files (plus mono/red separated raws) here:
Box | Simple Online Collaboration: Online File Storage, FTP Replacement, Team Workspaces
Just for fun
I took your image above and merged it with the main and narrow cam image (just resized and overlayed them with a border) to visualize the FOV difference between the cameras:The other scene as well:
(It is not perfect, there is some lens distortion..)
So, managed to obtain pictures of a few more parking lot scenes from my source, a traffic light stop and then a drive around sequence (10 seconds delay between groups, every shot in the group appears to be with a 1 second delay all by itself too).
Nothing too crazy lighting-wise. Getting diverse lighting scenes is complicated since many different variables need to align just right.
One archive per scene with both raw-raw and the output from my tool is at Box | Simple Online Collaboration: Online File Storage, FTP Replacement, Team Workspaces
On the video front, I was doing some more digging in the code and it appears that the video logging is some sort of a debugging feature that is not enabled in production builds deployed to the regular cars.
At most we can get some sort of a "dvlog", it is marked with teslaroadrunner magic inside, and consists of ~1680 byte "frames" of unknown format separated by ~16 0xff bytes, no idea what is that.
I also looked a bit more into the snapshot thingie and it appears to just snapshot current system state to send to the mothership, the image feed data is written to the /tmp by the vision task itself (or rather, every video camera thread writes to its own dir) in a circular round fashion storing about 100 images at once and deleting the old ones. It's referred to as image queue in the code so possibly image thread writes the raw items there (at ~30fps it appears) and then some other thread consumes them allowing the deletion.
at 2.5MB x 30/sec we are looking at 70MB/sec/camera write rate which is quite extreme (and the embedded ARM cpu does not have enough juice to process them to limit the rate). There's a gigabit NIC in there, so theoretically we might be able to dump one stream raw like that, but that means we need to embed our own device onto that network and it's unclear how, cid/diag network is 100mbps.
Even if we manage to embed our own code onto the device to pull it off, that still looks like mostly a dead-end to me, so I am not sure it's very productive getting any more camera images, what we have now should be enough to see the angles and other such info.
Plugging in storage and writing there is still not super practical, 70MB/sec means we'll exhaust 32G of storage every 6.6 or so minutes.
BTW, HW2 systems added 2 more computer systems (As in network-accessible) compared to HW1, one is eap itself, the other one is cryptically labeled lb, but I have no idea what is it and when is it on if ever.
Nothing too crazy lighting-wise. Getting diverse lighting scenes is complicated since many different variables need to align just right.
One archive per scene with both raw-raw and the output from my tool is at Box | Simple Online Collaboration: Online File Storage, FTP Replacement, Team Workspaces
On the video front, I was doing some more digging in the code and it appears that the video logging is some sort of a debugging feature that is not enabled in production builds deployed to the regular cars.
At most we can get some sort of a "dvlog", it is marked with teslaroadrunner magic inside, and consists of ~1680 byte "frames" of unknown format separated by ~16 0xff bytes, no idea what is that.
I also looked a bit more into the snapshot thingie and it appears to just snapshot current system state to send to the mothership, the image feed data is written to the /tmp by the vision task itself (or rather, every video camera thread writes to its own dir) in a circular round fashion storing about 100 images at once and deleting the old ones. It's referred to as image queue in the code so possibly image thread writes the raw items there (at ~30fps it appears) and then some other thread consumes them allowing the deletion.
at 2.5MB x 30/sec we are looking at 70MB/sec/camera write rate which is quite extreme (and the embedded ARM cpu does not have enough juice to process them to limit the rate). There's a gigabit NIC in there, so theoretically we might be able to dump one stream raw like that, but that means we need to embed our own device onto that network and it's unclear how, cid/diag network is 100mbps.
Even if we manage to embed our own code onto the device to pull it off, that still looks like mostly a dead-end to me, so I am not sure it's very productive getting any more camera images, what we have now should be enough to see the angles and other such info.
Plugging in storage and writing there is still not super practical, 70MB/sec means we'll exhaust 32G of storage every 6.6 or so minutes.
BTW, HW2 systems added 2 more computer systems (As in network-accessible) compared to HW1, one is eap itself, the other one is cryptically labeled lb, but I have no idea what is it and when is it on if ever.
Funny, the LTH-sensor mentioned earlier has "Coyote HVAC" written on it. Cartoon humor at Tesla.
Thanks for the excellent analysis @verygreen -- you just gave a bunch of people a bunch of work
Thanks for additional images!
Do you have some kind of terminal access to the PX2?
They are running some kind of linux distribution right? Ubuntu?
Care to provide some info about the hardware?
CPU, RAM, GPU, disk storage etc? (/proc/cpuinfo, /proc .. nvidia-something perhaps).
Last edited:
What are you actually implying here @verygreen ? Reason to worry?
And what do you mean by "the embedded ARM cpu"? I'm confused because the PX2 should have not one, but two CPUs. @bjornb has speculated otherwise, though!
The firmware image is a VERY stripped down linux rootfs, consisting mostly of busybox (+ all the autopilot thingies + some other related stuff + surprisingly full alsa setup (autopilot plans to output to audio? or access microphones? or both?))
It does not appear to be based on ubuntu or anything else I recognize readily.
Has custom looking init stuff with custom looking logging infrastructure (sv, svlog - rings any bells?)
Kernel is "3.18.21-rt19"
6 arm64 cpu cores ("Cortex A57") + the Pascal GPU.
/proc/cpuinfo is really unspecial.
They have sshd, but it's "locked down" to only accept key auth (root has public ssh rsa key embedded, no signs of private key anywhere, perhaps somewhere at the mothership?)
The initial lockdown is done on te first boot (triggered by the cid).
Code:
[ 0.000000] Initializing cgroup subsys cpuset
[ 0.000000] Initializing cgroup subsys cpu
[ 0.000000] Initializing cgroup subsys cpuacct
[ 0.000000] Linux version 3.18.21-rt19 ([email protected]) (gcc version 4.9.3 (crosstool-NG crosstool-ng-1.22.0) ) #1 SMP PREEMPT RT Tue Apr 25 17:30:31 PDT 2017
[ 0.000000] CPU: Cortex A57 Processor [411fd073] revision 3
[ 0.000000] Found vpr, start=0xec500000 size=ba00000
[ 0.000000] Early serial console at MMIO32 0x3110000 (options '')
[ 0.000000] bootconsole [uart0] enabled
[ 0.000000] Reserved memory: initialized node ramoops_carveout, compatible id nvidia,ramoops
[ 0.000000] cma: Reserved 64 MiB at 0x00000000e6000000
[ 0.000000] On node 0 totalpages: 954880
[ 0.000000] DMA zone: 5887 pages used for memmap
[ 0.000000] DMA zone: 0 pages reserved
[ 0.000000] DMA zone: 430592 pages, LIFO batch:31
[ 0.000000] Normal zone: 7168 pages used for memmap
[ 0.000000] Normal zone: 524288 pages, LIFO batch:31
[ 0.000000] psci: probing for conduit method from DT.
[ 0.000000] psci: PSCIv1.0 detected in firmware.
[ 0.000000] psci: Using standard PSCI v0.2 function IDs
[ 0.000000] psci: MIGRATE_INFO_TYPE not supported.
[ 0.000000] PERCPU: Embedded 15 pages/cpu @ffffffc0ffe22000 s22016 r8192 d31232 u61440
[ 0.000000] pcpu-alloc: s22016 r8192 d31232 u61440 alloc=15*4096
[ 0.000000] pcpu-alloc: [0] 0 [0] 1 [0] 2 [0] 3 [0] 4 [0] 5
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 941825
[ 0.000000] Kernel command line: root=/dev/mmcblk0p2 rootwait ip=off ro console=ttyS1,115200n8 no_console_suspend=1 tegra_keep_boot_clocks bootpart=kernel-b envpart=2 sdhci_tegra.en_boot_part_access=1 mtdparts=mtd0:65536K@0K(whole_device),524288@0(stuff),524288@20709376(env),262144@21233664(recovery-linux-dtb),262144@21495808(kernel-a-dtb),262144@21757952(kernel-b-dtb),11534336@22020096(recovery-linux),15728640@33554432(kernel-a),15728640@49283072(kernel-b) tegraid=18.1.2.0.0 vpr=0xba00000@0xec500000 lp0_vec=0x10000@0xf7ff0000 earlycon=uart8250,mmio32,0x03110000 bl_prof_dataptr=65536@0x0f7fe0000
[ 0.000000] PID hash table entries: 4096 (order: 3, 32768 bytes)
[ 0.000000] Dentry cache hash table entries: 524288 (order: 11, 8388608 bytes)
[ 0.000000] Inode-cache hash table entries: 262144 (order: 9, 2097152 bytes)
[ 0.000000] Memory: 3668048K/3819520K available (8544K kernel code, 1064K rwdata, 3896K rodata, 1928K init, 759K bss, 151472K reserved)
[ 0.000000] Virtual kernel memory layout:
vmalloc : 0xffffff8000000000 - 0xffffffbdffff0000 ( 247 GB)
vmemmap : 0xffffffbe00000000 - 0xffffffbfc0000000 ( 7 GB maximum)
0xffffffbe01c00000 - 0xffffffbe05400000 ( 56 MB actual)
PCI I/O : 0xffffffbffa000000 - 0xffffffbffb000000 ( 16 MB)
fixed : 0xffffffbffbdfe000 - 0xffffffbffbdff000 ( 4 KB)
modules : 0xffffffbffc000000 - 0xffffffc000000000 ( 64 MB)
memory : 0xffffffc000000000 - 0xffffffc100000000 ( 4096 MB)
.init : 0xffffffc000ca7000 - 0xffffffc000e89000 ( 1928 KB)
.text : 0xffffffc000080000 - 0xffffffc000ca6b24 ( 12443 KB)
.data : 0xffffffc000e96000 - 0xffffffc000fa02f8 ( 1065 KB)
[ 0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=6, Nodes=1
[ 0.000000] Preemptible hierarchical RCU implementation.
[ 0.000000] Additional per-CPU info printed with stalls.
[ 0.000000] NR_IRQS:64 nr_irqs:64 0
[ 0.000000] Architected cp15 timer(s) running at 31.25MHz (phys).
[ 0.000000] Initial timer value: 0x0000000001c449fe: 0.94s
[ 0.000003] sched_clock: 56 bits at 31MHz, resolution 32ns, wraps every 2199023255552ns
[ 0.000322] tegra-id: chipid=21817.
[ 0.000631] tegra-id: opt_subrevision=1.
[ 0.000946] Console: colour dummy device 80x25
[ 0.005089] allocated 16777216 bytes of page_cgroup
[ 0.005091] please try 'cgroup_disable=memory' option if you don't want memory cgroups
[ 0.005092] kmemleak: Kernel memory leak detector disabled
[ 0.005103] Calibrating delay loop (skipped), value calculated using timer frequency.. lpj=31250
[ 0.005105] pid_max: default: 32768 minimum: 301
[ 0.005165] Security Framework initialized
[ 0.005198] Mount-cache hash table entries: 8192 (order: 4, 65536 bytes)
[ 0.005202] Mountpoint-cache hash table entries: 8192 (order: 4, 65536 bytes)
[ 0.005598] Initializing cgroup subsys memory
[ 0.005608] Initializing cgroup subsys freezer
[ 0.005613] Initializing cgroup subsys debug
[ 0.005631] ftrace: allocating 29023 entries in 114 pages
[ 0.033446] CPU0 capacity=752
[ 0.033486] CPU1 capacity=1024
[ 0.033504] CPU2 capacity=1024
[ 0.033524] CPU3 capacity=752
[ 0.033544] CPU4 capacity=752
[ 0.033565] CPU5 capacity=752
[ 0.033590] hw perfevents: enabled with arm/armv8-pmuv3 PMU driver, 7 counters available
[ 0.052166] Brought up 6 CPUs
[ 0.052173] SMP: Total of 6 processors activated.
[ 0.053148] devtmpfs: initialized
[ 0.062972] Initilizing CustomIPI irq domain
[ 0.065119] pinctrl core: initialized pinctrl subsystem
[ 0.065490] regulator-dummy: ; Rail ON
[ 0.079170] Initializing plugin-manager
[ 0.079210] Plugin-manager not available
[ 0.079581] Adding domain adsp-pd to PM domain ape-pd
[ 0.080843] NET: Registered protocol family 16
[ 0.081294] console [pstore-1] enabled
[ 0.081299] pstore: Registered ramoops as persistent store backend
[ 0.081303] ramoops: attached 0x200000@0xea200000, ecc: 0/0
[ 0.081775] I2C first dynamic bus number based on alias = 9
[ 0.088753] cpuidle: using governor ladder
[ 0.095144] cpuidle: using governor menu
[ 0.095748] bpmp: waiting for handshake
[ 0.095754] bpmp: handshake completed
[ 0.095777] bpmp: synchronizing channels
[ 0.095789] bpmp: channels synchronized
[ 0.095793] bpmp: connect returned 0
[ 0.096080] tegra186-pmc device create success
[ 0.096140] create /sys/kernel/debug/PMC/boot-chain-type
[ 0.096150] tegra186-pmc: prod list not found: -19
[ 0.096225] padctrl padctrl.0: Pad control driver tegra-pmc-padctrl registered
[ 0.096230] PMC: configuring io pad defaults
[ 0.096243] T186 pmc padctrl driver initialized
[ 0.096249] ### PMC reset source: Software reset
[ 0.096252] ### PMC reset level: L1
[ 0.096255] ### PMC reset status reg: 0x2d
[ 0.096368] vdso: 2 pages (1 code @ ffffffc000e9d000, 1 data @ ffffffc000e9c000)
[ 0.096433] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[ 0.098255] DMA: preallocated 2048 KiB pool for atomic allocations
[ 0.099862] tegra_powergate_init: DONE
[ 0.100185] DTS File Name: arch/arm64/boot/dts/tegra186-tesla-das-hw20-rev-c.dts
[ 0.100198] DTB Build time: Apr 25 2017 17:30:52
[ 0.100220] Tegra reboot handler registered.
[ 0.101007] Registering Tegra186 clocks (this may take a while)...done
[ 0.101922] tegra186-pinctrl 2430000.pinmux: Prod-settngs not available
[ 0.103054] tegra186-pinctrl 2430000.pinmux: lookup the user state drive not found
[ 0.103067] tegra186-pinctrl 2430000.pinmux: lookup the user state unused not found
[ 0.103077] tegra186-pinctrl 2430000.pinmux: Probed Tegra pinctrl driver
[ 0.110440] mc: mapped MMIO address: 0xffffff8000520000 -> 0x2c10000
[ 0.110464] mc: mapped MMIO address: 0xffffff8000540000 -> 0x2c20000
[ 0.110485] mc: mapped MMIO address: 0xffffff8000560000 -> 0x2c30000
[ 0.110503] mc: mapped MMIO address: 0xffffff8000640000 -> 0x2c40000
[ 0.110527] mc: mapped MMIO address: 0xffffff8000660000 -> 0x2c50000
[ 0.110577] mc-err: Set intmask: 0xf3140
[ 0.110713] ecc-err: dram ecc disabled-MC_ECC_CONTROL:0x0000000c
[ 0.111968] tegra186-aowake c370000.pmc: WAKE_AOWAKE_CTRL_0 = 3
[ 0.111981] tegra186-aowake c370000.pmc: WAKE_AOWAKE_CNTRL_24(PMU_INT) = 320
[ 0.117893] tegra18x-reset 5000000.clock: registered 193 resets.
[ 0.120410] bpmp d000000.bpmp: firmware tag is 489f988b2661add6508874c39562c155
[ 0.124690] GPIO chip tegra-gpio: created GPIO range 0->252 ==> 2430000.pinmux PIN 0->252
[ 0.124880] gpiochip_add_data: registered GPIOs 0 to 255 on device: tegra-gpio
[ 0.164571] sys-3v3: 3300 mV ; Rail ON
[ 0.164828] sys-5v0: 5000 mV ; Rail ON
[ 0.165264] vdd-1v1: 1100 mV ; Rail ON
[ 0.165576] vdd-1v2: 1200 mV ; Rail ON
[ 0.165877] vdd-1v8-ddr: 1800 mV ; Rail ON
[ 0.166138] vdd-3v3: 3300 mV ; Rail ON
[ 0.166415] spmic-sd4: 1100 mV ; Rail ON
[ 0.166731] vdd-1v8-pll: 1800 mV ; Rail ON
[ 0.166971] spmic-ldo1: 800 mV ; Rail ON
[ 0.167234] vdd-v3v-ao: 3300 mV ; Rail ON
[ 0.167560] en-vdd-rtc: 1100 mV ; Rail ON
[ 0.167831] vdd-1v8-ao: 1800 mV ; Rail ON
[ 0.168062] vdd-1v05: 1050 mV ; Rail ON
[ 0.168326] spmic-ldo8: 800 mV ; Rail ON
[ 0.169196] vgaarb: loaded
[ 0.170921] SCSI subsystem initialized
[ 0.171003] libata version 3.00 loaded.
[ 0.171314] usbcore: registered new interface driver usbfs
[ 0.171389] usbcore: registered new interface driver hub
[ 0.171582] usbcore: registered new device driver usb
[ 0.172936] tegra-i2c 3160000.i2c: setting prod: prod_c_fm
[ 0.175676] tegra-i2c c240000.i2c: setting prod: prod_c_fm
[ 0.177671] tegra-i2c 3180000.i2c: setting prod: prod_c_fm
[ 0.181878] tegra-i2c 31c0000.i2c: setting prod: prod_c_fm
[ 0.183764] tegra-i2c c250000.i2c: setting prod: prod_c_fm
[ 0.185350] tegra-i2c 31e0000.i2c: setting prod: prod_c_fm
[ 0.188258] max77620 4-003c: CID0: 0x1f
[ 0.188464] max77620 4-003c: CID1: 0x30
[ 0.188638] max77620 4-003c: CID2: 0x00
[ 0.188843] max77620 4-003c: CID3: 0x59
[ 0.189012] max77620 4-003c: CID4: 0x4a
[ 0.189197] max77620 4-003c: CID5: 0x10
[ 0.189391] max77620 4-003c: MAX77620 PMIC OTP Version is 0x4A
[ 0.192663] max77620-sd0: at 1125 mV ; Rail ON
[ 0.193628] max77620-sd1: at 1200 mV ; Rail ON
[ 0.194579] max77620-sd2: at 1800 mV ; Rail ON
[ 0.195462] max77620-sd3: at 3300 mV ; Rail ON
[ 0.196495] max77620-sd4: at 600 mV ; Rail OFF
[ 0.197362] max77620-ldo0: at 1800 mV ; Rail ON
[ 0.199350] max77620-ldo1: at 1800 mV ; Rail ON
[ 0.200060] max77620-ldo2: at 3300 mV ; Rail ON
[ 0.202339] max77620-ldo3: at 1800 mV ; Rail ON
[ 0.203132] max77620-ldo4: at 800 mV ; Rail ON
[ 0.205357] max77620-ldo5: at 1800 mV ; Rail ON
[ 0.206134] max77620-ldo6: at 1800 mV ; Rail ON
[ 0.206893] max77620-ldo7: at 1000 mV ; Rail ON
[ 0.207622] max77620-ldo8: at 800 mV ; Rail OFF
[ 0.208017] gpiochip_add_data: registered GPIOs 1015 to 1023 on device: max20024-gpio
[ 0.210137] max77620-gpio max20024-gpio.0: max77620 gpio successfully initialized
[ 0.211633] max77620 4-003c: max77620 probe successfully
[ 0.211957] media: Linux media interface: v0.10
[ 0.212034] Linux video capture interface: v2.00
[ 0.216477] pps_core: LinuxPPS API ver. 1 registered
[ 0.216487] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <[email protected]>
[ 0.216523] PTP clock support registered
[ 0.216912] Tegra WDT setup timeout = 75 seconds.
[ 0.217450] tegra_wdt_t18x 30c0000.watchdog: tegra_wdt_t18x_probe done
[ 0.220563] arm-smmu 12000000.iommu: found 2 interrupts but expected at least 3
[ 0.220615] arm-smmu 12000000.iommu: probing hardware configuration...
[ 0.220624] arm-smmu 12000000.iommu: SMMUv2 with:
[ 0.220632] arm-smmu 12000000.iommu: stage 1 translation
[ 0.220639] arm-smmu 12000000.iommu: stage 2 translation
[ 0.220645] arm-smmu 12000000.iommu: nested translation
[ 0.220655] arm-smmu 12000000.iommu: stream matching with 128 register groups, mask 0x7f80
[ 0.220665] arm-smmu 12000000.iommu: SMMU address space size (0x800000) differs from mapped region size (0x1000000)!
[ 0.220673] arm-smmu 12000000.iommu: 64 context banks (0 stage-2 only)
[ 0.220681] arm-smmu 12000000.iommu: Stage-1: 39-bit VA -> 48-bit IPA
[ 0.220689] arm-smmu 12000000.iommu: Stage-2: 39-bit IPA -> 48-bit PA
[ 0.230729] arm-smmu 12000000.iommu: registered 66 master devices
[ 0.230745] arm-smmu 12000000.iommu: found only 0 context interrupt(s) but 64 required
[ 0.240380] Advanced Linux Sound Architecture Driver Initialized.
[ 0.241538] vdd-1v8: 1800 mV ; Rail ON
[ 0.241681] vdd-1v8: supplied by vdd-1v8-ddr
[ 0.242003] vdd-rtc: 1100 mV ; Rail ON
[ 0.242043] vdd-rtc: supplied by en-vdd-rtc
[ 0.242391] usb2-vbus-en-5v: 5000 mV ; Rail OFF
[ 0.242432] usb2-vbus-en-5v: supplied by vdd-1v8
[ 0.242710] vdd-qdser: 1100 mV ; Rail ON
[ 0.243043] park-fpd-en: 5000 mV ; Rail ON
[ 0.243315] park-main-cam-en: 5000 mV ; Rail ON
[ 0.253854] mxm-pwr-gpio-2: 5000 mV ; Rail ON
[ 0.264882] mxm-pwr-gpio-3: 5000 mV ; Rail ON
[ 0.264965] mxm-pwr-gpio-3: supplied by mxm-pwr-gpio-2
[ 0.275880] mxm-pwr-gpio-4: 5000 mV ; Rail ON
[ 0.275926] mxm-pwr-gpio-4: supplied by mxm-pwr-gpio-3
[ 0.477044] mxm-pwr_en: 5000 mV ; Rail ON
[ 0.477149] mxm-pwr_en: supplied by mxm-pwr-gpio-4
[ 0.480026] Switched to clocksource arch_sys_counter
[ 0.513993] nvmap_heap_init: nvmap_heap_init: created heap block cache
[ 0.514214] nvmap: nvmap_override_cache_ops() set roc flush ops to replace cache ops by set/ways
[ 0.514615] tegra-carveouts tegra-carveouts: vpr :dma coherent mem declare 0x00000000ec500000,195035136
[ 0.514623] nvmap_page_pool_init: Total RAM pages: 933396
[ 0.514628] nvmap_page_pool_init: nvmap page pool size: 116674 pages (455 MB)
[ 0.514698] nvmap_background_zero_thread: PP zeroing thread starting.
[ 0.514999] misc nvmap: created heap vpr base 0x00000000ec500000 size (190464KiB)
[ 0.530721] platform 3530000.xhci: Driver xhci-tegra requests probe deferral
[ 0.531333] thermal thermal_zone0: Registering thermal zone thermal_zone0 for type BCPU-therm
[ 0.531505] thermal thermal_zone1: Registering thermal zone thermal_zone1 for type MCPU-therm
[ 0.531634] thermal thermal_zone2: Registering thermal zone thermal_zone2 for type GPU-therm
[ 0.531798] thermal thermal_zone3: Registering thermal zone thermal_zone3 for type PLL-therm
[ 0.531969] thermal thermal_zone4: Registering thermal zone thermal_zone4 for type AO-therm
[ 0.532261] thermal thermal_zone5: Registering thermal zone thermal_zone5 for type Tdiode_tegra
[ 0.532477] isomgr_init(): iso emc max clk=1600000KHz
[ 0.532483] isomgr_init(): max_iso_bw=23040000KB
[ 0.532905] NET: Registered protocol family 2
[ 0.533759] TCP established hash table entries: 32768 (order: 6, 262144 bytes)
[ 0.534343] TCP bind hash table entries: 32768 (order: 8, 1835008 bytes)
[ 0.535887] TCP: Hash tables configured (established 32768 bind 32768)
[ 0.535976] TCP: reno registered
[ 0.536012] UDP hash table entries: 2048 (order: 6, 262144 bytes)
[ 0.536387] UDP-Lite hash table entries: 2048 (order: 6, 262144 bytes)
[ 0.536854] NET: Registered protocol family 1
[ 0.536900] PCI: CLS 0 bytes, default 64
[ 0.537484] tegra-fuse 3820000.efuse: Fuse driver initialized succesfully
[ 0.556582] host1x 13e10000.host1x: initialized
[ 0.560562] futex hash table entries: 2048 (order: 6, 262144 bytes)
[ 0.560786] audit: initializing netlink subsys (disabled)
[ 0.560880] audit: type=2000 audit(0.543:1): initialized
[ 0.569417] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[ 0.569458] msgmni has been set to 7292
[ 0.571862] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 246)
[ 0.571879] io scheduler noop registered (default)
[ 0.571890] io scheduler deadline registered
[ 0.572091] io scheduler cfq registered
[ 0.572388] tegra186-padctl 3520000.pinctrl: padctl mmio start 0x0000000003520000 end 0x0000000003520fff
[ 0.572406] tegra186-padctl 3520000.pinctrl: ao mmio start 0x0000000003540000 end 0x0000000003540fff
[ 0.572472] tegra186-padctl 3520000.pinctrl: FUSE_SKU_USB_CALIB_0 0x2ebc96
[ 0.572480] tegra186-padctl 3520000.pinctrl: FUSE_USB_CALIB_EXT_0 0x9
[ 0.574328] tegra186-padctl 3520000.pinctrl: mailbox is not ready yet
[ 0.574596] platform 3520000.pinctrl: Driver tegra186-padctl requests probe deferral
[ 0.679078] tegra-pcie 10003000.pcie-controller: probing port 0, using 4 lanes and lane map as 0x401
[ 0.679612] Adding domain tsec-pd to PM domain host-pd
[ 0.680150] tegradc 15200000.nvdisplay: Display dc.15200000 registered with id=0
[ 0.680160] DC OR NODE connected to /host1x/sor
[ 0.680164] found /host1x/sor
[ 0.680256] parse_tmds_config: No tmds-config node
[ 0.680319] of_dc_parse_platform_data: could not find vrr-settings node
[ 0.680323] of_dc_parse_platform_data: nvidia,hdmi-vrr-caps not present
[ 0.680327] of_dc_parse_platform_data: could not find SD settings node
[ 0.680331] of_dc_parse_platform_data: could not find cmu node
[ 0.680335] of_dc_parse_platform_data: could not find cmu node for adobeRGB
[ 0.680344] tegradc 15200000.nvdisplay: DT parsed successfully
[ 0.685990] tegradc 15200000.nvdisplay: probed
[ 0.690295] tegradc 15200000.nvdisplay: Allocated 14745856 as FBmem
[ 0.690575] tegradc 15200000.nvdisplay: fb registered
[ 0.693052] tsec 15500000.tsec: initialized
[ 0.694236] tsec 15100000.tsecb: initialized
[ 0.694581] Adding domain nvdec-pd to PM domain host-pd
[ 0.696267] nvdec 15480000.nvdec: initialized
[ 0.696531] Adding domain vic03-pd to PM domain host-pd
[ 0.696547] Adding domain msenc-pd to PM domain host-pd
[ 0.696562] Adding domain nvjpg-pd to PM domain host-pd
[ 0.699596] falcon 15340000.vic: initialized
[ 0.701081] falcon 154c0000.nvenc: initialized
[ 0.702393] falcon 15380000.nvjpg: initialized
[ 0.704355] iommu_context_dev 13e10000.host1x:ctx0: initialized (streamid=56)
[ 0.705680] iommu_context_dev 13e10000.host1x:ctx1: initialized (streamid=57)
[ 0.706444] iommu_context_dev 13e10000.host1x:ctx2: initialized (streamid=58)
[ 0.707216] iommu_context_dev 13e10000.host1x:ctx3: initialized (streamid=59)
[ 0.707915] iommu_context_dev 13e10000.host1x:ctx4: initialized (streamid=60)
[ 0.708680] iommu_context_dev 13e10000.host1x:ctx5: initialized (streamid=61)
[ 0.709436] iommu_context_dev 13e10000.host1x:ctx6: initialized (streamid=62)
[ 0.710200] iommu_context_dev 13e10000.host1x:ctx7: initialized (streamid=63)
[ 0.710491] Adding domain ve-pd to PM domain host-pd
[ 0.713661] nvcsi 150c0000.nvcsi: initialized
[ 0.721780] tegra-adma 2930000.adma: Tegra ADMA driver register 10 channels
[ 0.727271] tegra-gpcdma 2600000.dma: GPC DMA driver register 32 channels
[ 0.731147] Serial: 8250/16550 driver, 4 ports, IRQ sharing disabled
[ 0.732894] 3110000.serial: ttyS0 at MMIO 0x3110000 (irq = 145, base_baud = 25500000) is a Tegra
[ 0.733676] console [ttyS1] disabled
[ 0.733729] c280000.serial: ttyS1 at MMIO 0xc280000 (irq = 146, base_baud = 25500000) is a Tegra
[ 0.733802] console [ttyS1] enabled
[ 0.733810] bootconsole [uart0] disabled
[ 0.734815] 3100000.serial: ttyTHS0 at MMIO 0x3100000 (irq = 144, base_baud = 0) is a SERIAL_TEGRA
[ 0.735436] 3130000.serial: ttyTHS3 at MMIO 0x3130000 (irq = 147, base_baud = 0) is a SERIAL_TEGRA
[ 0.740598] loop: module loaded
[ 0.740692] nct1008/nct72/tmp451/max6649 0-004c: find device tree node, parsing dt
[ 0.740702] nct1008/nct72/tmp451/max6649 0-004c: starting parse dt
[ 0.740809] nct1008/nct72/tmp451/max6649 0-004c: success parsing dt
[ 0.740921] nct1008/nct72/tmp451/max6649 0-004c: success in enabling nct72 VDD rail
[ 0.814264] nct72: Enabled overheat logging at 106.00C
[ 0.814612] nct1008/nct72/tmp451/max6649 0-004c: nct1008_probe: initialized
[ 0.816515] nct1008/nct72/tmp451/max6649 8-004c: find device tree node, parsing dt
[ 0.816526] nct1008/nct72/tmp451/max6649 8-004c: starting parse dt
[ 0.816541] nct1008/nct72/tmp451/max6649 8-004c: success parsing dt
[ 0.816648] nct1008/nct72/tmp451/max6649 8-004c: success in enabling max6649 VDD rail
[ 0.874575] max6649: Enabled overheat logging at -3.00C
[ 0.874697] nct1008/nct72/tmp451/max6649 8-004c: nct1008_probe: initialized
[ 0.875907] THERMAL EST: found 2 subdevs
[ 0.875917] THERMAL EST num_resources: 0
[ 0.875925] [THERMAL EST subdev 0]
[ 0.875932] [THERMAL EST subdev 1]
[ 0.876304] thermal thermal_zone6: Registering thermal zone thermal_zone6 for type thermal-fan-est
[ 0.876312] THERMAL EST: thz register success.
[ 0.876420] THERMAL EST: end of probe, return err: 0
[ 0.876857] tegra_profiler: Branch: Dev
[ 0.876864] tegra_profiler: Version: 1.108
[ 0.876870] tegra_profiler: Samples version: 36
[ 0.876875] tegra_profiler: IO version: 20
[ 0.876885] armv8_pmu: imp: 0x41, idcode: 0x1
[ 0.876892] armv8_pmu: arch: AA64 PmuV3 ARM CORTEX-A57, type: 5, ver: 0
[ 0.876899] armv8_pmu: imp: 0x4e, idcode: 0x1
[ 0.876906] armv8_pmu: arch: AA64 PmuV3 NVIDIA (Denver), type: 6, ver: 2
[ 0.876912] armv8_pmu: imp: 0x4e, idcode: 0x1
[ 0.876917] armv8_pmu: arch: AA64 PmuV3 NVIDIA (Denver), type: 6, ver: 2
[ 0.876923] armv8_pmu: imp: 0x41, idcode: 0x1
[ 0.876929] armv8_pmu: arch: AA64 PmuV3 ARM CORTEX-A57, type: 5, ver: 0
[ 0.876935] armv8_pmu: imp: 0x41, idcode: 0x1
[ 0.876940] armv8_pmu: arch: AA64 PmuV3 ARM CORTEX-A57, type: 5, ver: 0
[ 0.876946] armv8_pmu: imp: 0x41, idcode: 0x1
[ 0.876951] armv8_pmu: arch: AA64 PmuV3 ARM CORTEX-A57, type: 5, ver: 0
[ 0.877175] tegra_profiler: auth: init
[ 0.879966] spi-tegra114 3210000.spi: Static pin configuration used
[ 0.882464] tegra-pcie 10003000.pcie-controller: RP prod settings are not found in DT
[ 0.888388] tun: Universal TUN/TAP device driver, 1.6
[ 0.888398] tun: (C) 1999-2004 Max Krasnyansky <[email protected]>
[ 0.888623] vcan: Virtual CAN interface driver
[ 0.888632] qspi_mtd spi6.0: s25fs512s SSG 8 0 1000 4000000
[ 0.888664] qspi_mtd spi6.0: s25fs512s (65536 Kbytes)
[ 0.888677] qspi_mtd spi6.0: mtd .name = spi6.0, .size = 0x4000000 (64MiB) .erasesize = 0x00040000 (256KiB) .numeraseregions = 0
[ 0.888685] CAN device driver interface
[ 0.888748] usbcore: registered new interface driver peak_usb
[ 0.889429] 9 ofpart partitions found on MTD device spi6.0
[ 0.889436] Creating 9 MTD partitions on "spi6.0":
[ 0.889447] 0x000000000000-0x000004000000 : "whole_device"
[ 0.889543] usbcore: registered new interface driver usb-storage
[ 0.890262] 0x000000000000-0x000000080000 : "stuff"
[ 0.891116] 0x0000013c0000-0x000001440000 : "env"
[ 0.891810] 0x000001440000-0x000001480000 : "recovery-linux-dtb"
[ 0.892294] tegra-rtc c2a0000.rtc: rtc core: registered tegra-rtc as rtc0
[ 0.892559] 0x000001480000-0x0000014c0000 : "kernel-a-dtb"
[ 0.892602] i2c /dev entries driver
[ 0.893697] 0x0000014c0000-0x000001500000 : "kernel-b-dtb"
[ 0.894995] 0x000001500000-0x000002000000 : "recovery-linux"
[ 0.896306] 0x000002000000-0x000002f00000 : "kernel-a"
[ 0.897113] 0x000002f00000-0x000003e00000 : "kernel-b"
[ 0.898488] isc-mgr isc-mgr.0: isc_mgr_probeing...
[ 0.899060] isc-mgr isc-mgr.1: isc_mgr_probeing...
[ 0.900218] isc-mgr isc-mgr.2: isc_mgr_probeing...
[ 0.900300] tegra-vi4 15700000.vi: initialized
[ 0.900810] of_graph_get_next_endpoint(): no port node found in /host1x/vi@15700000
[ 0.901195] isc-mgr isc-mgr.3: isc_mgr_probeing...
[ 0.902886] Message RAM Configuration
| base addr |0x0c312000|
| sidfc_flssa |0x00000000|
| xidfc_flesa |0x00000040|
| rxf0c_f0sa |0x000000c0|
| rxf1c_f1sa |0x00000300|
| rxbc_rbsa |0x00000540|
| txefc_efsa |0x00000780|
| txbc_tbsa |0x00000800|
| tmc_tmsa |0x00000c80|
[ 0.903182] Release 3.2.0 from 19.12.2014
[ 0.903605] net can0: mttcan device registered (regs=ffffff8000398000, irq=72)
[ 0.904566] Message RAM Configuration
| base addr |0x0c322000|
| sidfc_flssa |0x00000000|
| xidfc_flesa |0x00000040|
| rxf0c_f0sa |0x000000c0|
| rxf1c_f1sa |0x00000300|
| rxbc_rbsa |0x00000540|
| txefc_efsa |0x00000780|
| txbc_tbsa |0x00000800|
| tmc_tmsa |0x00000c80|
[ 0.904821] Release 3.2.0 from 19.12.2014
[ 0.905212] net can1: mttcan device registered (regs=ffffff800039e000, irq=74)
[ 0.905699] max77620-power-off max20024-power-off.4: Event recorder REG_NVERC : 0x0
[ 0.905906] libphy: dwc_phy: probed
[ 0.906289] tegra-pcie 10003000.pcie-controller: PCI host bridge to bus 0000:00
[ 0.906303] pci_bus 0000:00: root bus resource [mem 0x50100000-0x57ffffff]
[ 0.906313] pci_bus 0000:00: root bus resource [mem 0x58000000-0x7fffffff pref]
[ 0.906324] pci_bus 0000:00: root bus resource [bus 00-ff]
[ 0.906332] pci_bus 0000:00: root bus resource [io 0x1000-0xffff]
[ 0.906378] pci 0000:00:01.0: [10de:10e5] type 01 class 0x060400
[ 0.906477] pci 0000:00:01.0: PME# supported from D0 D1 D2 D3hot D3cold
[ 0.906780] pci 0000:00:01.0: bridge configuration invalid ([bus 00-00]), reconfiguring
[ 0.906964] pci 0000:01:00.0: [10de:1c36] type 00 class 0x030200
[ 0.906992] pci 0000:01:00.0: reg 0x10: [mem 0x00000000-0x00ffffff]
[ 0.907058] pci 0000:01:00.0: reg 0x14: [mem 0x00000000-0x0fffffff 64bit pref]
[ 0.907081] pci 0000:01:00.0: reg 0x1c: [mem 0x00000000-0x01ffffff 64bit pref]
[ 0.907097] pci 0000:01:00.0: reg 0x24: [io 0x0000-0x007f]
[ 0.907112] pci 0000:01:00.0: reg 0x30: [mem 0x00000000-0x0007ffff pref]
[ 0.908186] device-mapper: ioctl: 4.28.0-ioctl (2014-09-17) initialised: [email protected]
[ 0.909115] pci_bus 0000:01: busn_res: [bus 01-ff] end is updated to 01
[ 0.909233] pci 0000:00:01.0: BAR 9: assigned [mem 0x58000000-0x6fffffff 64bit pref]
[ 0.909244] pci 0000:00:01.0: BAR 8: assigned [mem 0x50800000-0x51ffffff]
[ 0.909254] pci 0000:00:01.0: BAR 7: assigned [io 0x1000-0x1fff]
[ 0.909270] pci 0000:01:00.0: BAR 1: assigned [mem 0x60000000-0x6fffffff 64bit pref]
[ 0.909298] pci 0000:01:00.0: BAR 3: assigned [mem 0x58000000-0x59ffffff 64bit pref]
[ 0.909322] pci 0000:01:00.0: BAR 0: assigned [mem 0x51000000-0x51ffffff]
[ 0.909336] pci 0000:01:00.0: BAR 6: assigned [mem 0x50800000-0x5087ffff pref]
[ 0.909345] pci 0000:01:00.0: BAR 5: assigned [io 0x1000-0x107f]
[ 0.909359] pci 0000:00:01.0: PCI bridge to [bus 01]
[ 0.909368] pci 0000:00:01.0: bridge window [io 0x1000-0x1fff]
[ 0.909379] pci 0000:00:01.0: bridge window [mem 0x50800000-0x51ffffff]
[ 0.909388] pci 0000:00:01.0: bridge window [mem 0x58000000-0x6fffffff 64bit pref]
[ 0.909657] pcieport 0000:00:01.0: Signaling PME through PCIe PME interrupt
[ 0.909667] pci 0000:01:00.0: Signaling PME through PCIe PME interrupt
[ 0.909678] pcie_pme 0000:00:01.0:pcie01: service driver pcie_pme loaded
[ 0.909873] aer 0000:00:01.0:pcie02: service driver aer loaded
[ 0.910072] PCI: enabling device 0000:01:00.0 (0000 -> 0003)
[ 0.912372] cpufreq: platform driver Initialization: pass
[ 0.912513] tegra_cluster_clk e090000.cluster_clk_priv: in probe()...
[ 0.912612] tegra_cluster_clk e090000.cluster_clk_priv: passed
[ 0.913271] sdhci: Secure Digital Host Controller Interface driver
[ 0.913276] sdhci: Copyright(c) Pierre Ossman
[ 0.913319] sdhci-pltfm: SDHCI platform and OF driver helper
[ 0.913618] sdhci-tegra 3460000.sdhci: Parent select= pll_p rate=408000000
[ 0.913803] sdhci-tegra 3460000.sdhci: Parent select= pll_c4_out0 rate=196249804
[ 0.913870] tegra-pcie 10003000.pcie-controller: speed change : Gen-1 -> Gen-2
[ 0.913967] sdhci-tegra 3460000.sdhci: Client registration for eMC Successful
[ 0.914102] Adding domain se-pd to PM domain host-pd
[ 0.915758] tegra-se-nvhost 15810000.se: initialized
[ 0.916247] regulator_get() failed for (3460000.sdhci,vddio_sd_slot), -19
[ 0.916252] sdhci-tegra 3460000.sdhci: vddio_sd_slot regulator not found: -19. Assuming vddio_sd_slot is not required.
[ 0.916267] sdhci-tegra 3460000.sdhci: setting min_voltage: 1800000, max_voltage: 1800000
[ 0.916290] tegra-se-nvhost 15810000.se: tegra_se_probe: complete
[ 0.916498] tegra-se-nvhost 15820000.se: initialized
[ 0.916921] tegra-se-nvhost 15820000.se: tegra_se_probe: complete
[ 0.917100] tegra-se-nvhost 15830000.se: initialized
[ 0.917427] tegra-se-nvhost 15830000.se: tegra_se_probe: complete
[ 0.917595] tegra-se-nvhost 15840000.se: initialized
[ 0.918189] tegra-se-nvhost 15840000.se: tegra_se_probe: complete
[ 0.918632] tegra-se-elp 3ad0000.se_elp: tegra_se_elp_probe: complete
[ 0.918716] tegra_bootloader_debug: created tegra_bootloader directory
[ 0.918845] nvadsp 2993000.adsp: in probe()...
[ 0.919459] nvadsp 2993000.adsp: AMC/ARAM initialized.
[ 0.919719] nvadsp 2993000.adsp: nvadsp_app_module_probe
[ 0.920106] kfuse 3830000.kfuse: initialized
[ 0.920385] Denver: backdoor interface is NOT available.
[ 0.922705] tegra186-cam-rtcpu b000000.rtcpu: sce gets unhalted
[ 0.922777] tegra186-cam-rtcpu b000000.rtcpu: booting SCE with Camera RTCPU FW
[ 0.923671] tegra186-cam-rtcpu b000000.rtcpu: enabling tracing
[ 0.923719] tegra186-cam-rtcpu b000000.rtcpu: firmware version cmd=2 ivc=2 sha1 f006d351b9a6e3e1731ef58c6f3070043647086d
[ 0.926271] tegra-camera-rtcpu-character-device ivc-b000000.rtcpu:echo@0: probing /dev/camchar-echo
[ 0.926417] tegra-camera-rtcpu-character-device ivc-b000000.rtcpu:dbg@7c00: probing /dev/camchar-dbg
[ 0.926528] camchar: rtcpu character device driver loaded
[ 0.927639] mmc0: ADMA3 QUIRK2 disabled for sdhci controller
[ 0.927687] sdhci-tegra 3460000.sdhci: No vmmc regulator found
[ 0.927691] sdhci-tegra 3460000.sdhci: No vqmmc regulator found
[ 0.928181] tegra186-aondbg aondbg: aondbg driver probe() OK
[ 0.928378] register_ari_mca_banks: Registered MCA ROC:IOB
[ 0.928455] register_ari_mca_banks: Registered MCA ROC:CCE
[ 0.929139] tegra18_a57_serr_init: on CPU 1 a Denver Core
[ 0.929189] sdhci-tegra 3460000.sdhci: setting min_voltage: 1800000, max_voltage: 1800000
[ 0.929259] parse_throttle_dt_data: Num cap clks = 4
[ 0.929267] parse_throttle_dt_data: clk=mcpu type=1
[ 0.929272] parse_throttle_dt_data: clk=bcpu type=2
[ 0.929279] parse_throttle_dt_data: clk=gpu type=4
[ 0.929284] parse_throttle_dt_data: clk=emc type=3
[ 0.929554] tegra_throttle_probe: probe successful. #cdevs=4
[ 0.952922] coresight-tmc 8030000.etf: TMC initialized
[ 0.953030] mmc0: SDHCI controller on 3460000.sdhci [3460000.sdhci] using ADMA
[ 0.953299] coresight-tpiu 8060000.tpiu: TPIU initialized
[ 0.953624] coresight-funnel 9010000.funnel_bccplex: FUNNEL initialized
[ 0.953853] coresight-funnel 8010000.funnel_major: FUNNEL initialized
[ 0.954163] coresight-replicator 8040000.replicator: REPLICATOR initialized
[ 0.954603] coresight-etm4x 9840000.ptm: ETM 4.0 initialized
[ 0.954993] coresight-etm4x 9940000.ptm: ETM 4.0 initialized
[ 0.955411] coresight-etm4x 9a40000.ptm: ETM 4.0 initialized
[ 0.955819] coresight-etm4x 9b40000.ptm: ETM 4.0 initialized
[ 0.964237] sdhci-tegra 3460000.sdhci: setting min_voltage: 1800000, max_voltage: 1800000
[ 0.964288] tegra186-ahc 290b900.ahc: ahc platform probe started
[ 0.964384] tegra186-ahc 290b900.ahc: ahc platform probe successful
[ 0.964542] OPE platform probe
[ 0.964656] OPE platform probe successful
[ 0.966787] GACT probability NOT on
[ 0.966796] Mirror/redirect action on
[ 0.966806] u32 classifier
[ 0.966808] Actions configured
[ 0.966819] Netfilter messages via NETLINK v0.30.
[ 0.966856] nf_conntrack version 0.5.0 (16384 buckets, 65536 max)
[ 0.967304] xt_time: kernel timezone is -0000
[ 0.967448] ip_tables: (C) 2000-2006 Netfilter Core Team
[ 0.967528] arp_tables: (C) 2002 David S. Miller
[ 0.967556] TCP: cubic registered
[ 0.967563] NET: Registered protocol family 17
[ 0.967576] NET: Registered protocol family 15
[ 0.967582] can: controller area network core (rev 20120528 abi 9)
[ 0.967616] NET: Registered protocol family 29
[ 0.967637] can: raw protocol (rev 20120528)
[ 0.967643] can: broadcast manager protocol (rev 20120528 t)
[ 0.967652] can: netlink gateway (rev 20130117) max_hops=1
[ 0.967737] 8021q: 802.1Q VLAN Support v1.8
[ 0.971071] tegra186-dpaux-pinctrl 15040000.dpaux: initialized
[ 0.971821] Adding domain ispa-pd to PM domain host-pd
[ 0.972853] isp 15600000.isp: initialized
[ 0.973838] xhci-tegra 3530000.xhci: can't get usb3-0 phy (-517)
[ 0.974007] platform 3530000.xhci: Driver xhci-tegra requests probe deferral
[ 0.974244] tegra186-padctl 3520000.pinctrl: padctl mmio start 0x0000000003520000 end 0x0000000003520fff
[ 0.974256] tegra186-padctl 3520000.pinctrl: ao mmio start 0x0000000003540000 end 0x0000000003540fff
[ 0.974297] tegra186-padctl 3520000.pinctrl: FUSE_SKU_USB_CALIB_0 0x2ebc96
[ 0.974303] tegra186-padctl 3520000.pinctrl: FUSE_USB_CALIB_EXT_0 0x9
[ 0.975352] xhci-tegra 3530000.xhci: No UTMI port has OTG_CAP
[ 0.975360] xhci-tegra 3530000.xhci: No USB3 port has OTG_CAP
[ 0.976538] xhci-tegra 3530000.xhci: Direct firmware load for tegra18x_xusb_firmware failed with error -2
[ 0.976549] xhci-tegra 3530000.xhci: cannot find firmware....retry after 1 second
[ 0.978184] eqos 2490000.ether_qos: Setting local MAC: 0 4 4b 52 f9 7
[ 0.996249] sdhci-tegra 3460000.sdhci: setting min_voltage: 1800000, max_voltage: 1800000
[ 1.000402] bpmp: mounted debugfs mirror
[ 1.000530] [dram-timers] DRAM derating cdev registered.
[ 1.004867] max77620-ldo7: disabling
[ 1.004875] max77620-ldo6: disabling
[ 1.004879] max77620-ldo4: disabling
[ 1.004882] max77620-ldo2: disabling
[ 1.004886] max77620-ldo0: disabling
[ 1.004890] max77620-sd3: disabling
[ 1.004893] max77620-sd2: disabling
[ 1.004896] max77620-sd1: disabling
[ 1.004898] max77620-sd0: disabling
[ 1.008347] ALSA device list:
[ 1.008352] No soundcards found.
[ 1.036313] tegra186-snd-p2382 sound_ref: ADMAIF1 <-> ADMAIF1 mapping ok
[ 1.036408] tegra186-snd-p2382 sound_ref: ADMAIF2 <-> ADMAIF2 mapping ok
[ 1.036507] tegra186-snd-p2382 sound_ref: ADMAIF3 <-> ADMAIF3 mapping ok
[ 1.036594] tegra186-snd-p2382 sound_ref: ADMAIF4 <-> ADMAIF4 mapping ok
[ 1.036680] tegra186-snd-p2382 sound_ref: ADMAIF5 <-> ADMAIF5 mapping ok
[ 1.036771] tegra186-snd-p2382 sound_ref: ADMAIF6 <-> ADMAIF6 mapping ok
[ 1.036859] tegra186-snd-p2382 sound_ref: ADMAIF7 <-> ADMAIF7 mapping ok
[ 1.036947] tegra186-snd-p2382 sound_ref: ADMAIF8 <-> ADMAIF8 mapping ok
[ 1.037057] tegra186-snd-p2382 sound_ref: ADMAIF9 <-> ADMAIF9 mapping ok
[ 1.037147] tegra186-snd-p2382 sound_ref: ADMAIF10 <-> ADMAIF10 mapping ok
[ 1.037238] tegra186-snd-p2382 sound_ref: ADMAIF11 <-> ADMAIF11 mapping ok
[ 1.037331] tegra186-snd-p2382 sound_ref: ADMAIF12 <-> ADMAIF12 mapping ok
[ 1.037422] tegra186-snd-p2382 sound_ref: ADMAIF13 <-> ADMAIF13 mapping ok
[ 1.037510] tegra186-snd-p2382 sound_ref: ADMAIF14 <-> ADMAIF14 mapping ok
[ 1.037602] tegra186-snd-p2382 sound_ref: ADMAIF15 <-> ADMAIF15 mapping ok
[ 1.037690] tegra186-snd-p2382 sound_ref: ADMAIF16 <-> ADMAIF16 mapping ok
[ 1.037782] tegra186-snd-p2382 sound_ref: ADMAIF17 <-> ADMAIF17 mapping ok
[ 1.037872] tegra186-snd-p2382 sound_ref: ADMAIF18 <-> ADMAIF18 mapping ok
[ 1.037963] tegra186-snd-p2382 sound_ref: ADMAIF19 <-> ADMAIF19 mapping ok
[ 1.038071] tegra186-snd-p2382 sound_ref: ADMAIF20 <-> ADMAIF20 mapping ok
[ 1.060351] Waiting for root device /dev/mmcblk0p2...
[ 1.076556] mmc0: BKOPS_EN bit is not set
[ 1.077245] sdhci-tegra 3460000.sdhci: setting min_voltage: 1800000, max_voltage: 1800000
[ 1.102950] mmc0: tap value and tuning window after hw tuning completion ...
[ 1.102965] mmc0: tuning_window[0]: 0xffffffff
[ 1.102971] mmc0: tuning_window[1]: 0xfffff8ff
[ 1.102977] mmc0: tuning_window[2]: 0xff1fffff
[ 1.102982] mmc0: tuning_window[3]: 0xffffffff
[ 1.102988] mmc0: tuning_window[4]: 0xfffffff1
[ 1.102993] mmc0: tuning_window[5]: 0xffff1fff
[ 1.102998] mmc0: tuning_window[6]: 0xf1ffffff
[ 1.103004] mmc0: tuning_window[7]: 0x7fffffff
[ 1.103008] sdhci: Tap value: 63 | Trim value: 5
[ 1.103035] sdhci: SDMMC_VENDOR_INTR_STATUS[0x108]: 0x40000
[ 1.108635] mmc0: new HS400 MMC card at address 0001
[ 1.108974] mmcblk0: mmc0:0001 032G34 29.1 GiB
[ 1.109094] mmcblk0boot0: mmc0:0001 032G34 partition 1 8.00 MiB
[ 1.109187] mmcblk0boot1: mmc0:0001 032G34 partition 2 8.00 MiB
[ 1.109274] mmcblk0rpmb: mmc0:0001 032G34 partition 3 4.00 MiB
[ 1.112294] mmcblk0: p1 p2 p3
[ 1.163838] VFS: Mounted root (squashfs filesystem) readonly on device 179:2.
[ 1.164818] devtmpfs: mounted
[ 1.165460] Freeing unused kernel memory: 1928K (ffffffc000ca7000 - ffffffc000e89000)
[ 1.165477] Freeing alternatives memory: 36K (ffffffc000e89000 - ffffffc000e92000)
[ 1.345483] runit/1 starting
[ 1.906757] random: pvs urandom read with 30 bits of entropy available
[ 1.982235] xhci-tegra 3530000.xhci: Firmware timestamp: 2016-09-01 11:32:41 UTC, Version: 55.05 release
[ 1.984049] xhci-tegra 3530000.xhci: xHCI Host Controller
[ 1.984069] xhci-tegra 3530000.xhci: new USB bus registered, assigned bus number 1
[ 1.984939] xhci-tegra 3530000.xhci: irq 195, io mem 0x03530000
[ 1.985468] hub 1-0:1.0: USB hub found
[ 1.985496] hub 1-0:1.0: 4 ports detected
[ 1.985858] xhci-tegra 3530000.xhci: xHCI Host Controller
[ 1.985872] xhci-tegra 3530000.xhci: new USB bus registered, assigned bus number 2
[ 1.986304] hub 2-0:1.0: USB hub found
[ 1.986329] hub 2-0:1.0: 3 ports detected
[ 2.062131] EXT4-fs (dm-0): mounted filesystem with ordered data mode. Opts: (null)
[ 2.071075] EXT4-fs (dm-1): mounted filesystem with ordered data mode. Opts: (null)
[ 2.072843] EXT4-fs (dm-2): mounted filesystem with ordered data mode. Opts: (null)
[ 2.074875] EXT4-fs (dm-3): mounted filesystem with ordered data mode. Opts: (null)
[ 2.076662] EXT4-fs (dm-4): mounted filesystem with ordered data mode. Opts: (null)
[ 2.092849] lockdown: I smell a wumpus. Locking the doors and windows.
[ 2.314077] eqos 2490000.ether_qos eth0: Link is Up - 1Gbps/Full - flow control off
[ 2.587201] xhci-tegra 3530000.xhci: entering ELPG
[ 2.600362] xhci-tegra 3530000.xhci: entering ELPG done
[ 2.759867] Boot count set to 2053
[ 4.267717] run (2713): /proc/2713/oom_adj is deprecated, please use /proc/2713/oom_score_adj instead.
[ 4.333304] Pascal temp is ok (43)
[ 6.137847] watchdog watchdog0: wdt timeout set to 1 seconds
[ 6.237556] random: nonblocking pool is initialized
[ 12.173604] tegra-i2c c250000.i2c: no acknowledge from address 0x30
[ 12.173670] tegra-i2c c250000.i2c: setting prod: prod_c_fmNo reasons to worry. I just mean that the actual ARM cpus are as underpowered as ever, running gzip -1 on the raw image dump takes ~1.5 seconds (including the startup time) so we cannot use it for any sort of heavy lifting like that, esp if e compete with other tasks for cpu time. I am sure Pascal stuff is powerful and all that, but we cannot really use it for our purposes because autopilot is using it already and it's not like a general purpose cpu.
BTW, thee's an interesting quote in one of the scripts:
Code:
# "I feel the need... the need for speed!" (increase the CPU frequencies)
# List of available frequencies:
# A-57s (real-time CPUs): /sys/devices/system/cpu/cpu0/cpufreq/scaling_available_frequencies
# Denver (vision CPUs): /sys/devices/system/cpu/cpu1/cpufreq/scaling_available_frequencies
# Four A-57s - 100% max-freq
echo userspace > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor
echo "$(cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq)" > /sys/devices/system/cpu/cpu0/cpufreq/scaling_setspeed
# Two Denver cores - 100% max-freq
echo userspace > /sys/devices/system/cpu/cpu1/cpufreq/scaling_governor
echo "$(cat /sys/devices/system/cpu/cpu1/cpufreq/scaling_max_freq)" > /sys/devices/system/cpu/cpu1/cpufreq/scaling_setspeedAllright, so this appears to answer @bjornb 's question about single/double CPU. (The code clearly states «Two Denver cores», right?)
stopcrazypp
Well-Known Member
I should clarify. Each Parker SoC has 4 A57 cores + 2 Denver cores + Pascal GPU. So that code can only be referring to 1 SoC (which makes sense actually, as I presume a single script can't configure both SoCs at the same time).
Introducing Parker, NVIDIA’s Newest SOC for Autonomous Vehicles | NVIDIA Blog
If there is only 1 SoC (4 A57 cores, 2 Denver cores), then Tesla is running something closer to the single chip board.
However, the pictures suggest that they are running the double chip board with 2 SoCs (total 8 A57 cores, 4 Denver cores)
Autonomous Car Development Platform from NVIDIA DRIVE PX2
I presume the second SoC might be running something different, or has its own script to configure the clock speeds.
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